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The great challenge posed by unmanned surface vehicle is to improve the automation level in practical application. In this paper, an unmanned surface vehicle course tracking controller is designed to overcome the input saturation caused by the limitation of the steering engine. The feedback control law is developed based on backstepping design method with the Lyapunov stability theory. An auxiliary...
Extending the adaptive integral LOS path following method from planar to spatial, this paper presents a novel spatial path following control method for an under-actuated stratospheric airship in the presence of unknown wind. The nonlinear dynamic model of the airship is first introduced. Then, the spatial adaptive integral LOS guidance method generates the desired attitude and estimates the wind....
Distributed group cooperative guidance (DGCG) problems for multiple missiles with switching directed communication topologies are dealt with. In contrast to traditional cooperative guidance utilized to intercept one single target, the group cooperative guidance is applicable to multiple targets. In the group cooperative attack, multi-missile system are classified into multiple subgroups, and each...
A novel three-dimensional nonlinear guidance law is proposed based on block backstepping method and input-to-state stability theory for interception of maneuvering targets(evaders). By viewing the target acceleration as a bounded disturbance input, input-to-state stability theory is utilized to design a state feedback guidance law so as to achieve robust tracking to the maneuvering target. The stability...
In this paper, we propose a discrete-time navigation algorithm for a non-holonomic mobile robot. A sensor network, which consists of some range finders, is deployed in a planar environment to detect static and moving obstacles. The robot or a server obtains the real-time local maps from sensor nodes and calculates a temporarily safe path from the robot's current position to a given target. The generated...
Aiming at the requirement of attack angle control of guidance weapon and the adverse effect of dynamic characteristics of control system on the guidance effect, a guidance law with terminal attack angle constraint considering the dynamic characteristics of the control system is proposed. Based on sliding-mode variable structure control theory, a three-dimensional guidance law is designed by using...
In this paper, a visual navigation system is implemented to control a UAV in unknown and GPS-denied environments, using a monocular camera. The navigation system is based on the Semi-direct Visual Odometry algorithm, whose absolute scale is estimated by fusing visual output with altitude measurements. The main contribution of the paper is the recovery mechanisms to reinitialize the visual map when...
Three-axis orthogonal gyro installation in strapdown inertial navigation system can only perform limited reliability as single gyro fault can directly lead to the whole system fault, and navigation error can be quickly accumulated with time increasing due to its own mechanism. To solve these problems, a single-axis rotational modulation SINS method based on hexagonal pyramid redundant configuration...
The inertial navigation system (INS) errors are accumulated over time, so the position errors of each sampling point obtained by INS and applied in the geomagnetic matching algorithm are raised with sampling number increased. And the best transformation to describe the real trajectory and indicated trajectory consists of translation, rotation and stretching. Traditional matching algorithms use only...
In order to improve the attack effect from the top of maneuver target for air-to-ground missile, three-dimensional proportional navigation model with over-gravity compensation is established based on the relative motion equations. Three-dimensional ballistic trajectory of the missile attacking target is simulated based on the guidance and control closed-loop circuit. The effect of the over-gravity...
An autonomous navigation and guidance system based on stereo vision measurements is presented for pinpoint planetary landing in unknown environments. Firstly, a relative navigation coordinate system is established based on the stereo vision measurements of unknown landmarks and the positions of the unknown landmarks in the relative navigation coordinate system are calculated. Then the position, velocity...
In order to intercept against the fixed, uniform and maneuvering target with a certain impact angle accurately, a circular navigation guidance method based on sliding mode control is proposed in this paper. According to the geometrical analysis of the circular trajectory in a two-dimensional plane, the conclusion that only if impact angle is given, two of any points on the guidance face have a unique...
The recent growing interest for indoor Location-Based Services (LBSs) has created a need for more accurate and low-cost indoor localization system. The existing solutions are either low-cost with low-accuracy or high-accuracy with high-cost. A positioning solution for indoor localization system with Bluetooth and UWB is proposed in this paper. The system combines both advantages of Bluetooth and UWB,...
An optimal guidance law of reentry vehicle both with terminal interception and impact angle constraint is derived, and tow types of optimal guidance law expressions “Proportional Navigation + Angle Constraint (PN+AC)” and “Velocity Pursuit + Angle Constraint (VP+AC)” are given with lag-free dynamic system. Then, simulations of non-dimensional miss distance and impact angle error base on statistical...
In recent years, image matching navigation technology has been developing rapidly, but it is hard to meet the actual requirement of real-time. In this paper, a fast image matching method based on high-dimensional combined features is proposed, and K-dimensional tree (KD-tree) and particle swarm optimization (PSO) algorithm are introduced to improve the matching speed. At first we present a new concept...
An optimal impact angle control guidance law is proposed in this paper. The missile system is approximated under the small heading error assumption and the impact angle control guidance law is derived based on the approximated system to minimize the energy cost. The proposed guidance law has a form of biased PNG law and it's in accord with the previous result of PNG in the form acceleration command...
Source seeking in emergency environment is a vital issue, which has attracted the attention of researchers recently. In this paper, we consider a robot traveling with a constant speed and guided by sensor measurements. This control law does not depend on any gradient dependent information. The robot is navigated using an angular velocity limited by a maximum and minimum constants. The robot location...
In this paper, we propose a safe navigation algorithm for non-holonomic flying robots. To detect the static and moving obstacles, a sensor network, which consists of some time-of-flight cameras, is deployed in a three dimensional environment. The robot or a server obtains the real-time measurements of the environment from the cameras and calculates a temporarily safe robot path from the robot's current...
Collision avoidance (CA) for an Unmanned Surface Vehicle (USV) is a key technology for autonomy especially in a complex environment. To decide a suitable steering occasion to maneuver for the CA of an USV may be very helpful in some applications such as the long-term monitoring task in the environment with various obstacles. In this paper, a steering occasion strategy is designed. Firstly, a feasible...
This paper describes the implementation of an intelligent navigation system, based on the integrated use of the Doppler velocity log (DVL) and strapdown inertial navigation system (SINS), for autonomous underwater vehicle (AUV) applications. A variable structure multiple model (VSMM) filtering method is presented to be used to fuse the data from the SINS sensors and to integrated them with the DVL...
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