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The autonomous learning capability of UAV (unmanned aerial vehicle) has gained more and more attentions of researchers. As far as helicopter steering is concerned, instead of calculating dynamics of UAV in a relative short interval, pilots just take their experience and consciousness instantaneously, known as similar status has similar action, to keep the helicopter hovering. The experience and the...
In this paper task assignment and path planning for multi-target pursuit (MTP) problem are studied. The mixed integer linear programming (MILP) of minimax assignment is formed, and a solution called operations on matrix is presented. The single linear programming obstacle-avoided and the "expansible target size" target pursuit method modeled by linear programming (LP) is proposed to solve...
The complicated dynamics of Rotorcraft-based Unmanned Aerial Vehicles (RUAVs) leads to both parametric and dynamic uncertainty. This paper introduces a hybrid control method that combines robust H2 control and adaptive control to deal with time-varying uncertainties of RUAVs. Using adaptive method, a new variable gain controller is designed to compensate the effect of uncertainty on systems. This...
In this paper the path planning for obstacle-avoided pursuit problem (OAP) is studied. The OAP models based on the mixed integer linear programming (MILP) is presented. In the OAP models, the dynamic equation of mass point with linear damping is taken as the state equation of vehiclepsilas motion. Integer variables are used to describe the relative position of vehicle and obstacles. ldquoExpansible...
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