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A novel scheme to solve the trajectory planning problem for quadrotors with model and state constraints is proposed. First the RRT (Rapidly-exploring Random Tree) algorithm is employed to generate an initial route in context of a 3D environment. Then with the model of quadrotoer, the MPC (Model Predictive Control) method is used to construct an inner simulator which can generate the trajectories satisfying...
The reliability of Global Navigation Satellite System (GNSS) has been very important according to an ever-increasing dependency on GNSS in the position, navigation, and timing (PNT) applications. Nevertheless, there is still a distinctive weakness that GNSS signal is easily damaged by the jamming attack. GNSS jamming incident is considered to be an act of provocation that poses a threat to the security...
This study aims to develop an effective control approach for force control of a typical EHA system. This control scheme is considered as an advanced combination of a feedforward neural network — based PID (FNNPID) controller and a fuzzy grey predictor (FGP), shortened as feedforward neural network fuzzy grey predictor (FNNFGP). Here, the FNNPID controller is used to drive the system to desired targets...
Path tracking control for autonomous vehicle using model predictive control (MPC) algorithm maintains maneuverability by calculating a sequence of control input which minimizes a tracking error. The weakness of this method is that the performance of MPC may decrease significantly when the priori prediction model is not accurate. Therefore, it is important to keep the vehicle stable when MPC having...
We consider the problem of area coverage for robot teams operating under resource constraints, while modeling spatio-temporal environmental phenomena. The aim of the mobile robot team is to avoid exhaustive search and only visit the most important locations that can improve the prediction accuracy of a spatio-temporal model. We use a Gaussian Process (GP) to model spatially varying and temporally...
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