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Presents the introductory welcome message from the conference proceedings. May include the conference officers' congratulations to all involved with the conference event and publication of the proceedings record.
This paper details a method of detecting collision risks for Unmanned Aircraft during taxiing. Using images captured from an on-board camera, semantic segmentation can be used to identify surface types and detect potential collisions. A review of classifier lead segmentation concludes that texture feature descriptors lack the pixel level accuracy required for collision avoidance. Instead, segmentation...
This article presents an algorithm for decentralized control and decision making among a number of unmanned aircraft systems (UASs). The approach is scalable and adaptable to a variety of specific mission tasks. Additionally, the algorithm could easily be adapted for use on land or sea-based systems. Each UAS involved in an automated decision making process uses a selection of both predefined and...
In this paper, we develop a vision based formation control of quad-rotor UAVs using a monocular camera. A Lyapunov based approach is used to derive the controller. The objective of the controller for the follower UAV is to keep the leader vehicle at a desired bearing angle in its field-of-view. Also a desired fixed distance is maintained by using the size of the UAV as seen the image plane of the...
The operational interface between a helicopter and a ship deck is a complex, dynamic and hazardous environment that presents a unique set of challenges to both engineers and pilots alike. Unmanned helicopters require a specific set of conditions to be met and maintained in order to commit to a landing, where large amounts of energy or large angular deviations of the ship deck can cause undesirable...
This paper addresses the stability and tracking control problem of quadrotor unmanned flying vehicle (UAV) in the presence of uncertainty. Adaptive autonomous sliding mode tracking system is designed by combining robust and adaptive control theory. Lyapunov analysis shows that the proposed algorithms can guarantee asymptotic convergence of the tracking error of the linear and angular motion dynamics...
This paper considers optimal trajectory planning for autonomous nonholonomic vehicles used in investigating environmental phenomena. In particular, we present an algorithm that generates locally optimal trajectories to find the global maximum of the underlying environmental field. Our algorithm uses Gaussian process priors to estimate the unknown field and the notion of expected improvement to develop...
Unmanned Systems has been taking place of manned systems in several fields like aviation. Unmanned Aerial Vehicle (UAV), one of the most popular and effective unmanned systems, is gradually becoming the vital element of aviation because of its high success rate in both military and civilian missions. Basic problem of UAV is finding the best path in tough environment. Coverage zones of radars and complex...
Path planning for an Unmanned Aerial Vehicle which can be used in many different purposes is a challenging issue especially in tasks involving large number of visiting points. The problem becomes more complex when the flight environment is taken into account with numerous constraints. In this paper, Simulated Annealing (SA) algorithm is used to obtain nearly optimal path in 2D radar constrained environment...
This paper details a method to ascertain the reachability of known emergency landing sites for any fixed wing aircraft in a forced landing due to engine failure in steady uniform wind conditions. With knowledge of the aircraft's state and parameters, and landing site location and landing direction, the minimum height loss path can be defined. This uses glide performance calculations and a trajectory...
This paper presents a system for collision-free trajectory planning with multiple Unmanned Aerial Vehicles (UAVs) which automatically identifies conflicts among them. After detecting conflicts between UAVs, the system resolves them cooperatively using a collision-free trajectory planning algorithm based on a stochastic optimization technique named Particle Swarm Optimization (PSO). The new implementation...
In this work, design and control system development of a gas-electric hybrid quad tilt-rotor UAV with morphing wing are presented. The proposed aircraft has an all carbon-composite body, gas-electric hybrid electric generation system for 3 hours hovering or up to 10 hours of horizontal flight, a novel configuration for VTOL and airplane-like flights with minimized aerodynamic costs and mechanical...
This paper describes the theory and implementation of a trajectory optimization layer operating within an energy-aware, airborne, dynamic data-driven application system (EA-DDDAS). The work addresses wind field data estimation, trajectory optimization, and implementation of communication protocols to increase sUAS endurance in persistent sensing missions. The trajectory optimization layer acts as...
This paper is about solar irradiation estimation on a solar powered UAV over its mission course [1]. Solar irradiation estimation and maximizing the solar energy collection are critical for solar powered UAVs and their performance. In this paper main focus is on solar irradiation calculations and comparison of two possible flight paths for solar energy collection during a transport or inspection mission.
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