Open Access. Powered by Scholars. Published by Universities.®
- Institution
- Publication
- Publication Type
Articles 1 - 12 of 12
Full-Text Articles in Engineering
Path Planning And Obstacle Avoidance Of Uav For Cage Culture Inspection, Yi-En Cai, Jih-Gau Juang
Path Planning And Obstacle Avoidance Of Uav For Cage Culture Inspection, Yi-En Cai, Jih-Gau Juang
Journal of Marine Science and Technology
This paper presents path planning and obstacle avoidance of an unmanned aerial vehicle (UAV) for cage culture inspection. The proposed system can automatically inspect cage farming environment that can cut manpower and reduce cost. The problem is similar to travelling salesman problem (TSP). Genetic algorithms are useful techniques for TSP and can also be used for cage culture inspection. In addition to path planning, an improved particle swarm optimization (IPSO) is applied to avoid obstacle between different cages. The IPSO is applicable to both stationary and dynamic environments with one or more obstacles. Simulation results show the effectiveness of the …
Evaluating The Potential Of Drone Swarms In Nonverbal Hri Communication, Kasper Grispino, Damian Lyons, Truong-Huy Nguyen
Evaluating The Potential Of Drone Swarms In Nonverbal Hri Communication, Kasper Grispino, Damian Lyons, Truong-Huy Nguyen
Faculty Publications
Human-to-human communications are enriched with affects and emotions, conveyed, and perceived through both verbal and nonverbal communication. It is our thesis that drone swarms can be used to communicate information enriched with effects via nonverbal channels: guiding, generally interacting with, or warning a human audience via their pattern of motions or behavior. And furthermore that this approach has unique advantages such as flexibility and mobility over other forms of user interface. In this paper, we present a user study to understand how human participants perceived and interpreted swarm behaviors of micro-drone Crazyflie quadcopters flying three different flight formations to bridge …
3d Real-Time Visualization And Simulation Platform For Collaborative Path Planning Of Ua, Chen Gong, Xu Lei, Zhiyong Su
3d Real-Time Visualization And Simulation Platform For Collaborative Path Planning Of Ua, Chen Gong, Xu Lei, Zhiyong Su
Journal of System Simulation
Abstract: There are still some issues existing in current path planning of UAV, such as planning result simulation verification and 3D visualization. To solve the problems, a 3D real-time visualization and simulation platform for collaborative path planning of UAV was proposed. The target area was divided and calculated. The reconnaissance beam of UAV was modeled with virtual camera, the intersection points obtained quickly based on graphics hardware. The terrain mesh was calculated by scan-line polygon filling algorithm, reconnaissance information was recorded and analyzed, and the color temperature maps were given. Through the actual operation by the simulation platform, simulation …
Cooperative Task Assignment Simulation Of Multi-Uavs In Dynamic Environments, Tizhou Qiao, Xinping Guo, Yawei Li, Wenjun Zhang, Zhongyi Yin
Cooperative Task Assignment Simulation Of Multi-Uavs In Dynamic Environments, Tizhou Qiao, Xinping Guo, Yawei Li, Wenjun Zhang, Zhongyi Yin
Journal of System Simulation
Abstract: In order to address the problem of cooperative task assignment for multiple UAVs, a parallel simulation framework was proposed for cooperative task planning based on HLA/RTI simulation through UAV aerodynamic simulations and flight control simulation, which could be more real and effective algorithm validation. The paths were optimized to account for randomization and threats in the environment by modeling the probability of UAV loss. By coupling the failure probabilities of each UAV to the missions of the other UAVs, reality of cooperation was improved significantly. In order to achieve the desired objectives, the stochastic simulation models were used to …
Efficiency Simulation Of System Of Uav Patrol System Base On Stk, Yang Yong, Xijun Yan, Zhang Heng
Efficiency Simulation Of System Of Uav Patrol System Base On Stk, Yang Yong, Xijun Yan, Zhang Heng
Journal of System Simulation
Abstract: In order to analyze problems such as coverage percent of mission area and reliable communication between unmanned aerial vehicle (UAV) and ground control station, a method for simulation and validation based on STK was proposed. The condition should be satisfied in theory to achieve seamless coverage of the mission area by using UAV reconnaissance and communication system was analyzed. A method for down link calculation of UAV and the ground control station was proposed. STK simulation was used for validating the correctness of theoretical analysis. It shows that the simulation results can provide rational support for UAV reconnaissance and …
Uav Takeoff Decision Based On Neural Network Model Of Takeoff Capability, Yongtao Peng, Yueping Wang, Xiaoting Wang
Uav Takeoff Decision Based On Neural Network Model Of Takeoff Capability, Yongtao Peng, Yueping Wang, Xiaoting Wang
Journal of System Simulation
Abstract: To enhance the safety in case of engine flameout failure, a new type of UAV takeoff decision based on neural network capacity model was proposed. Two capacity parameters of takeoff safety in case of engine flameout failure were defined, one is the maximum velocity for a safe takeoff and the other is the minimum velocity for a safe shut down. A calculation method based on iterative simulations for those parameters under multiple flight conditions was introduced. Double layer neural networks were used to model the relationship between flight conditions and the capacity parameters, to realize the compressive storage and …
Attitude Control Of Vtol Hexrotor Aircraft Based On Lyapunov Theory, Xuemin Yuan, Kecai Cao
Attitude Control Of Vtol Hexrotor Aircraft Based On Lyapunov Theory, Xuemin Yuan, Kecai Cao
Journal of System Simulation
Abstract: The considered hexrotor is a symmetric VTOL-UAV with six rigid mono-directional propellers, and the interval between each propeller is 60°. In order to overcome the inherent geometric singularity of Euler angle description, quaternion representation was used to model. The effect of gyroscopic torques and reactive torques was taken into account when simplifying our model. An approach for hexrotor was proposed in which two nearly equivalent control laws were used to obtain asymptotic stability of attitude angles and attitude angular velocity of the hexrotor UAV. Simulation results emphasize the effectiveness of the proposed control scheme.
Path Planning And Control Simulation Of Unpowered Unmanned Aerial Vehicle (Uav) Returning To The Airport, Yijun Zhang, Yiqun Dong, Zhan Guang, Jianliang Ai
Path Planning And Control Simulation Of Unpowered Unmanned Aerial Vehicle (Uav) Returning To The Airport, Yijun Zhang, Yiqun Dong, Zhan Guang, Jianliang Ai
Journal of System Simulation
Abstract: The unpowered Unmanned Aerial Vehicle (UAV) return to the airport unpoweredly is a link of large risk and complex technology during the flight, and it is the key stage which affects the flight safety of the UAV. The basic control strategy and path planning of the unpowered UAV's back to the airport were studied, and the method which calculated the average drag of the return was proposed. Under the condition of multiple constraints, the flight control model of the UAV's return was established. It is proved that the result of the simulation is effective and has built a foundation …
Power-Over-Tether Uas Leveraged For Nearly-Indefinite Meteorological Data Acquisition, Daniel Rico, Carrick Detweiler, Francisco Muñoz-Arriola
Power-Over-Tether Uas Leveraged For Nearly-Indefinite Meteorological Data Acquisition, Daniel Rico, Carrick Detweiler, Francisco Muñoz-Arriola
Department of Computer Science and Engineering: Dissertations, Theses, and Student Research
Use of unmanned aerial systems (UASs) in agriculture has risen in the past decade. These systems are key to modernizing agriculture. UASs collect and elucidate data previously difficult to obtain and used to help increase agricultural efficiency and production. Typical commercial off-the-shelf (COTS) UASs are limited by small payloads and short flight times. Such limits inhibit their ability to provide abundant data at multiple spatiotemporal scales. In this paper, we describe the design and construction of the tethered aircraft unmanned system (TAUS), which is a novel power-over-tether UAS leveraging the physical presence of the tether to launch multiple sensors along …
Data Driven Simulation Of Polluted Gas Dispersion Using Source Estimation And Particle Filter, Rongxiao Wang, Bin Chen, Sihang Qiu, Zhengqiu Zhu, Xiaogang Qiu
Data Driven Simulation Of Polluted Gas Dispersion Using Source Estimation And Particle Filter, Rongxiao Wang, Bin Chen, Sihang Qiu, Zhengqiu Zhu, Xiaogang Qiu
Journal of System Simulation
Abstract: The real-time prediction of the air contaminant dispersion in chemical industry park is important to the emergency management of air pollution accident. Due to the unknown source terms and the error of input parameters in the atmospheric dispersion model, the accuracy of traditional simulation is limited. A data driven atmospheric dispersion simulation based on source estimation and particle filter was proposed. Based on the results of the source estimation, particle filter was applied to assimilate the UAV observation into the dispersion model in real time to calibrate the system state and obtain more accurate prediction results. Experiments show that …
Sliver: Simulation-Based Logic Bomb Identification/Verification For Unmanned Aerial Vehicles, Jake M. Magness
Sliver: Simulation-Based Logic Bomb Identification/Verification For Unmanned Aerial Vehicles, Jake M. Magness
Theses and Dissertations
This research introduces SLIVer, a Simulation-based Logic Bomb Identification/Verification methodology, for finding logic bombs hidden within Unmanned Aerial Vehicle (UAV) autopilot code without having access to the device source code. Effectiveness is demonstrated by executing a series of test missions within a high-fidelity software-in-the-loop (SITL) simulator. In the event that a logic bomb is not detected, this methodology defines safe operating areas for UAVs to ensure to a high degree of confidence the UAV operates normally on the defined flight plan. SLIVer uses preplanned flight paths as the baseline input space, greatly reducing the input space that must be searched …
Improving Coverage Method Of Autonomous Drones For Environmental Monitoring, Ömür Yildirim, Revna Acar Vural, Klaus Diepold
Improving Coverage Method Of Autonomous Drones For Environmental Monitoring, Ömür Yildirim, Revna Acar Vural, Klaus Diepold
Turkish Journal of Electrical Engineering and Computer Sciences
With the rapid developments of unmanned aerial vehicles (UAVs), usage of UAVs is increasing to bring autonomy for complicated processes such as environmental monitoring. Because of the complexity of the problem, environmental monitoring tasks are highly demanding in terms of time and resources. To reduce expensive costs of operations, improvements on autonomous observation capabilities has a key role. In this work, we offer coverage improvements for our autonomous environmental monitoring system. We compared different path planning approaches to find out the optimum path planning solution. Simulation results showed that required task execution time and required resources are decreased by usage …