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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...
To analyze the characteristic of an onboard pan-tilt control system to enable an unmanned aerial vehicle (UAV) to Track a ground target, and to verify the stability of the tracking controller and to test the performance of the controller, an experiment platform for pan-tilt control of a small scale autonomous helicopter is designed and then implemented. The system consists of four components including...
This paper investigates the search probability and camera footprint of region coverage for UAVs. Two kinds of search probability by using the UAV camera are proposed. Moreover, the relationship between the UAV altitude and the camera footprint is also studied in this paper. Some formulars concerned with the UAV camera footprint are developed in two cases: flat flying and roll motion, and yaw motion...
We demonstrate a testbed and algorithms for collaborative human and automated (or mixed-initiative) decision making within the context of outdoor search and rescue. Hydra is a networked simulation tool that allows n human and k automated agents operating under different assumptions to share control over m unmanned aerial vehicles (UAVs) with cameras, with the goal of locating a hidden subject thetas...
The miniature unmanned helicopter exhibits a complex and nonlinear dynamic behavior, open- loop unstable and a high degree of inter-axis coupling. This paper describes a hybrid PID velocity control method based on single neuron for an unmanned helicopter. This method possesses both the simple structure of PID controller, and adjusting papameters on-line by intelligent technique. The application results...
Any aircraft, manned or unmanned, may enter safely and legally into the US National Airspace System (NAS) provided that it has been issued an airworthiness certificate complying with Federal Aviation Administration (FAA) requirements. Unfortunately corresponding requirements, procedures and regulations for airworthiness certification of unmanned aircraft are in early development stages and flight...
Currently many countries are developing regulation to allow unmanned aircraft systems (UAS) operations in their National Airspace System (NAS). Successful integration requires UAS to achieve, at a minimum, an equivalent level of safety to that of manned aviation. Safety is primarily defined in terms of the risk to human life, although potential collateral damages to property can also be taken into...
In this paper we propose modified Banker's algorithm for routing and scheduling in multi-AGV systems. A mission path, determined by string algebra is executed in a way that some unsafe states are allowed in order to achieve better utilization of vehicles. Moreover, a method for splitting a mission path is proposed so that number of resources (arcs) needed for mission execution is gradually reduced...
A method for the trajectory planning of coordinated groups of UUVs, developed in authors' previous work is extended. The key points within the design patterns that must be used to implement the method in code are stressed. Rotors, vectorized quantities which introduce directionality, and thereby cause divergence from local minima, are introduced into the virtual potential algorithm. This development...
This paper describes a method to control the arrival time, xy plane speed, and orientation of an unmanned aerial vehicles to specified static targets. To reach the mission objectives, a virtual target is created and associated to each real target. Each virtual target moves along a straight line at a constant speed corresponding to the one at which the UAV must reach the real target. The starting point...
The paper presents a solution for formation flight and formation reconfiguration of unmanned aerial vehicles (UAVs). Based on a virtual leader approach, combined with an extended local potential field, it is universal applicable by driving the vehiclepsilas auto pilot. The solution is verified, using a group of UAVs based on a simplified small-scale helicopter, which is simulated in MATLABtrade/Simulinktrade...
In general routing problems are adapted to the application domain while incorporating constraints and special conditions. Depending on the problem, the classical static shortest path algorithm may be proved unrealized due to insufficient energy reserves. Motivated from the analysis in (Economou et al., 2007) where graph theory tools were utilized in the UAV (unmanned aerial vehicle) context for the...
Unmanned aerial vehicles (UAVs) are increasingly used in military and scientific research. UAVs rely on accurate location information for a variety of purposes including navigation, motion planning and control, and mission completion. UAV INS/GPS localization is generally used based on navigation filter. Extended Kalman filter is largely used to solve the problem of data fusion and localization, however,...
The design and the initial realization of control on an experimental in-door unmanned autonomous quadrotor helicopter is presented. This is a hierarchical embedded model-based control scheme that is built upon the concept of back-stepping, and is applied on an electric motor-driven quadrotor UAV hardware that is equipped with an embedded on-board computer, inertial sensor unit, as well as facilities...
This article describes the use of predictive control for the decentralized cooperative control of unmanned aerial vehicles in an unfamiliar three-dimensional environment. It is assumed that each vehicle is equipped with an autopilot and a trajectory control unit. The autopilot insures the stability of the vehicle. The setpoints of the autopilot are calculated by the trajectory control unit, thus forming...
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