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How to describe and measure unmanned aerial vehicle (UAV) autonomy is of primary importance in the field of autonomous control of UAVs. One of the most challenging obstacles lies in the reasonable description framework of UAV autonomy. In this paper, the existing typical classification models of autonomous control levels are presented and compared firstly. With the construction of task-level model...
Depth control of underwater robots is an indispensably function, especially when robots are stationary in water. A bionic bladder system was designed to control the depth of the robots in water. It was composed of a cylinder and a piston. The dynamic models of how the bionic bladder system controls underwater robots were established and based on which a dual-velocity control system was designed. 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...
The bionic underwater robot propelled by undulating fins is an interesting field in current research on underwater robots. With the prosperous development of bionic underwater robots, its control problem remains big challenging for strong nonlinearity, uncertainty environments, and lack of understanding of dynamic characteristics of undulating fins. As a model-free method, the Q-learning based reinforcement...
The biomimetic undulating fin, RoboGnilos, is inspired by natural fish that generally swim via undulations of a long dorsal or anal fin. However, the present performance of this fin-type underwater propulsor can hardly be satisfactory in velocity, efficiency, or maneuverability, and retains a long distance to practical applications. This paper examines the dynamics of the undulating fin, and proposes...
Undulation fishes, whose propulsion is mainly achieved by undulating ribbon fins, are good at maneuvering or stabilizing at low speeds. This paper suggests and proposes a two-dimensional approximate computational model before presenting an initial analysis on undulation propulsion scheme. It is believed that this mode has a better potential for exploitation in artificial underwater systems. Hydrodynamics...
In recent twenty years, tens of the bionic underwater prototype propulsors which imitate aquatic animals have been invented. The bionic principles hand classification of bionic propulsors were presented firstly. The main advance of the bionic propulsors in the world has been listed in table form. Then the bottlenecks which include low efficiency and massive mechanism, hard-shelled reverse control...
This paper presents a decentralized method to the problem of multiple unmanned aerial vehicles (UAVs) cooperative search of an unknown area. Firstly, based on search map model, the multiple UAVs cooperative search problem is posed as a receding horizon (RH) optimization decision problem, and a RH based UAV search decision process is proposed. Then, this centralized online optimization problem is partitioned...
Heaving motion is an indispensably function for underwater robots. A bionic bladder system which can realize both heaving and pitching control was designed inspired by biologic fishpsilas bladder. It was mainly composed of a cylinder and a piston. The dynamic models of the bionic bladder system for heaving and pitching motion were established and based on which a dual-velocity control system was designed...
The undulating fin propulsion mode belonged to one of MPF (median and/or paired fin) has a great potential and a bright prospect because of the remarkable advantages including capable of producing vector thrust, smaller disturbance to ambient flow field, as well as tending to transplant to underwater robots. In this paper, we will introduce a novel bionic propulsor that imitates the structure and...
Due to oceanic exploitation necessities, such as benthonic archaeology, exploration to benthonic mineral resources and salvaging of sunken ships, a novel kind of fish-like robot has become one of the hot topics in the field of underwater vehicles. For such aquatic robots, high maneuverability and great stability are more important than high speed or remarkable accelerating performance. This paper...
The data collection and transmission system based on CAN bus is designed and realized in order to implement the real-time data collection and reliable transmission in distributed control system of undulated biomimetic propulsor. 1-wire A/D DS2450 and Serial D/A converter AD5551 are used to implement data collection and transmission. The architecture of the system is introduced from the viewpoint of...
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