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When used in counter-terrorism and disaster rescue, UAVs may possibly fly in buildings. In an indoor closed environment, GPS signal may be blocked, which will make UAVs difficult to obtain their location. In addition, a complex indoor environment also brings challenges to the safety of flight. Therefore, it is necessary to identify complex environments and avoid obstacles in real-time. This paper...
This paper considers the 3D path following problem of an Unmanned Aerial Vehicle (UAV), the objective is to steer the UAV along a given reference path, while the desired transient and steady performance is satisfied. To solve the problem, we make use of the typical multi-loop control structure in which the guidance loop controller directs the aircraft to the desired path, while the inner loop controller...
A critical safety concern with the rapid increase in UAVs is developing algorithms that can solve the pressing airborne collision avoidance problem. This paper proposed a collision avoidance algorithm for UAVs based on the Lyapunov method. A collision cone approach is used to predict any possible collision with the obstacle. It begins with the property of the parallel navigation, then formulates the...
To the problem of cooperative ground moving target tracking using UAVs in an urban area, a novel method is presented, which based on target state fusion estimation and prediction, as well as on-line trajectory planning. Firstly, based on active sensing, a solving framework was presented, the formal representation and system model of cooperative target tracking using a team UAVs was established; secondly,...
To the problem of cooperative standoff tracking of a ground moving target using a team of UAVs, a novel solving framework was presented, which based on target state fusion estimation and prediction, as well as on-line motion planning. Firstly, a solving framework was presented, the formal representation and system models were established; secondly, the unscented information filter was suggested for...
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