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autonomous navigation for Unmanned Aerial Vehicles Based on Chaotic Bionics Theory

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Journal of Bionic Engineering 2009年第3期6卷 270-279页

作者： Xiao-lei Yu~(1,2) Yong-rong Sun~1 Jian-ye Liu~1 Bing-wen Chen~31.navigation Research Centre,Nanjing Universi~ of Aeronautics and Astronautics,Nanjing 210016,P.R.China2.Institute for Technology Research & Innovation,Deakin University,Vic 3217,Australia3.Institute.for Unmanned Aerial Vehicle Research,Beihang University,Beijing 100083,P.R.China [a]navigation Research Centre Nanjing University of Aeronautics and Astronautics Nanjing 210016 P. R. China [b]Institute for Technology Research & Innovation Deakin University Vic 3217 Australia [c]Institute for Unmanned Aerial Vehicle Research Beihang University Beijing 100083 P. R. China

In this paper a new reactive mechanism based on perception-action bionics for multi-sensory integration applied to Un- manned Aerial Vehicles (UAVs) navigation is *** strategy is inspired by the olfactory bulb neural activity observed in rabbits subject to external *** new UAV navigation technique exploits the use of a multiscroll chaotic system which is able to be controlled in real-time towards less complex orbits,like periodic orbits or equilibrium points,considered as perceptive *** are subject to real-time modifications on the basis of environment changes acquired through a Synthetic Aperture Radar (SAR) sensory *** mathematical details of the approach are given including simulation results in a virtual en- *** results demonstrate the capability of autonomous navigation for UAV based on chaotic bionics theory in com- plex spatial environments.

关键词： chaotlc system perception-action bionlcs UAV,multi-sensoty integration autonomous navigation

autonomous navigation of Cruise Phase based on IST-SCKF 36

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Autonomous Navigation of Cruise Phase based on IST-SCKF

Pico-satellite autonomous navigation with Magnetometer and Sun Sensor Data

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作者： Wen-Long Yao Wei Shao Bo-Yang Li Ai-Ling Chen School of Automation and Electrical Engineering Qingdao University of Science and Technology

ISBN: (纸本)9781538629185

An Iteration Strong Tracking Square-root Cubature Kalman Filter（IST-SCKF） is proposed and applied to the autonomous optical navigation system which has the problem of the non-linear for the state equation and the observation equation of the spacecraft cruise phase,and the orbit of the spacecraft was determined *** algorithm introduces the method of iterative *** the update phase,the recollection of the sampling points is performed by using the estimated value and the square root ***,the suboptimal fading factor in the strong tracking is introduced into the SCKF *** method improves the state mutation of the tracking *** simulation results show that the improved square root Cubature Kalman filter algorithm can improve the accuracy of the orbit parameter and the variance prediction effectively,and it can adapt to the rapidly changing flight environment,and the filtering accuracy is obviously superior to the SCKF algorithm.

关键词： autonomous navigation STF SCKF Spacecraft

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Chinese Journal of Aeronautics 2011年第1期24卷 46-54页

作者： HAN Ke WANG Hao TU Binjie JIN Zhonghe Department of Information Science and Electronic Engineering Zhejiang University Hangzhou 310027 China

This article presents a near-Earth satellite orbit estimation method for pico-satellite applications with light-weight and low-power requirements. The method provides orbit information autonomously from magnetometer and sun sensor, with an extended Kalman filter （EKF）. Real-time position/velocity parameters are estimated with attitude independently from two quantities： the measured magnitude of the Earth’s magnetic field, and the measured dot product of the magnetic field vector and the sun vector. To guarantee the filter’s effectiveness, it is recommended that the sun sensor should at least have the same level of accuracy as magnetometer. Furthermore, to reduce filter’s computation expense, simplification methods in EKF’s Jacobian calculations are introduced and testified, and a polynomial model for fast magnetic field calculation is developed. With these methods, 50% of the computation expense in dynamic model propagation and 80% of the computation burden in measurement model calculation can be reduced. Tested with simulation data and compared with original magnetometer-only methods, filter achieves faster convergence and higher accuracy by 75% and 30% respectively, and the suggested simplification methods are proved to be harmless to filter’s estimation performance.

关键词： pico-satellite autonomous navigation orbit estimation magnetometer Kalman filter

Development of autonomous navigation system for rice transplanter

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International Journal of Agricultural and Biological Engineering 2018年第6期11卷 89-94页

作者： Xiang Yin Juan Du Noboru Noguchi Tengxiang Yang Chengqian Jin School of Agricultural Engineering and Food Science Shandong University of TechnologyZibo 255000China Research Faculty of Agriculture Hokkaido UniversityKita 9 Nishi 9Kita-kuSapporo 060-8589Japan Nanjing Research Institute for Agricultural Mechanization of Ministry of Agriculture and Rural Affairs Nanjing 210014China

Rice transplanting requires the operator to manipulate the rice transplanter in straight *** markers are proposed to help experienced drivers in keeping straightforward and parallel to the previous path,which are extremely boring in terms of large-scale *** objective of this research was to develop an autonomous navigation system that automatically guided a rice transplanter working along predetermined paths in the *** rice transplanter used in this research was commercially available and originally *** automatic manipulating system was developed instead of manual functions including steering,stop,going forward and reverse.A sensor fusion algorithm was adopted to integrate measurements of the Real-Time Kinematic Global navigation Satellite System(RTK-GNSS)and Inertial Measurement Unit(IMU),and calculate the absolute moving direction under the UTM coordinate system.A headland turning control method was proposed to ensure a robust turning process considering that the rice transplanter featured a small turning radius and a relatively large slip rate at extreme steering *** were designed and conducted to verify the performance of the newly developed autonomous navigation *** showed that both lateral and heading errors were less than 8 cm and 3 degrees,respectively,in terms of following straight *** headland turns were robustly executed according to the required pattern.

关键词： autonomous navigation rice transplanter sensor fusion headland turning

2.5-dimensional angle potential field algorithm for the real-time autonomous navigation of outdoor mobile robots

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Science China(Information Sciences) 2011年第10期54卷 2100-2112页

作者： QIU Quan 1,3 & HAN JianDa 2 1 Beijing Research Center of Intelligent Equipment for Agriculture,Beijing 100097,China 2 State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China 3 National Research Center for Intelligent Agricultural Equipment,Beijing 100097,China Beijing Research Center of Intelligent Equipment for Agriculture Beijing China National Research Center for Intelligent Agricultural Equipment Beijing China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China

A new real-time algorithm for the autonomous navigation of mobile robots equipped with laser scanners is proposed in this *** from the existing algorithms designed for 2-dimensional navigation problems,the new algorithm introduces the height information of the obstacles into the guidance process and behaves as a 2.5-dimensional angle potential field algorithm (2.5D-APF) to fulfill the navigation requirements under complex outdoor terrain ***,one laser scan is partitioned into two kinds of function sectors: guidance sector and inspecting ***,the guidance sector and the inspecting sectors are reconstructed to form a virtual guidance scan,where the 2.5D information is taken into ***,the conventional APF is improved to analyze the virtual guidance scan and generate the navigation *** new algorithm is tested on a tracked mobile robot,and the experimental results validate the proposed algorithm.

关键词： robot 2.5-dimensional outdoor real-time autonomous navigation

Development of autonomous navigation controller for agricultural vehicles

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International Journal of Agricultural and Biological Engineering 2020年第4期13卷 70-76页

作者： Xiang Yin Yanxin Wang Yulong Chen Chengqian Jin Juan Du School of Agricultural Engineering and Food Science Shandong University of TechnologyZiboShandong 255000China Nanjing Research Institute for Agricultural Mechanization of Ministry of Agriculture and Rural Affairs Nanjing 210014China

Agricultural vehicles are adopted to undertake farming tasks by traversing along crop rows in the *** quality depends significantly on the driving skills of the *** guidance has been introduced into agriculture to achieve high-accuracy path tracking during the last decades,which contributes considerably to straight-line *** objective of this research was to develop an autonomous navigation controller that allowed movement autonomy for various agricultural *** wheel-type vehicles were used as the test platform featuring automatic steering,hydrostatic transmission and speed control,which included a rice transplanter,a high-clearance sprayer and a tractor.A dual-antenna RTK-GNSS receiver was attached to the vehicles to provide spatial information on both positioning and heading by using the RTX service from Trimble.A path planning method was proposed to create a straight-line reference path by giving two points,and the target path was determined according to the vehicle initial status and working *** turning was comprehensively taken into account by listing different turn patterns in order to realize autonomous navigation at the *** navigation controller hardware was fabricated for program execution,data processing and information communication with peripherals.A human-machine interface was designed for the operator to complete basic setting,path planning and navigation control by providing *** experiments were conducted to evaluate the performance and versatility of the newly developed autonomous navigation controller in guiding agricultural vehicles to follow straight paths and turn at the *** showed that an appropriate turn pattern was automatically executed when finishing straight-line *** lateral error in straight-line tracking was no more than 6 cm,6 cm and 5 cm for the rice transplanter,the high-clearance sprayer and the tractor,*** the maximum

关键词： autonomous navigation navigation controller agricultural vehicles straight-line tracking straight path headland turning

Research on Visual autonomous navigation Indoor for Unmanned Aerial Vehicle

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Journal of Shanghai Jiaotong university(Science) 2017年第2期22卷 252-256页

作者：张洋吕强林辉灿马建业 Department of Control Engineering Academy of Armored Forces EngineeringBeijing 100072China

The aim of this paper is to study visual autonomous navigation of unmanned aerial vehicle (UAV) in indoor global positioning system (GPS) denied environment. The UAV platform of the autonomous navigation flight control system is designed and built. The principle of visual localization and mapping algorithm is studied. According to the characteristics of UAV platform, the visual localization is designed and improved. Experimental results demonstrate that the UAV platform can realize the tasks of autonomous localization, navigation and mapping based on visual in unknown environments. © 2017, Shanghai Jiaotong University and Springer-Verlag Berlin Heidelberg.

关键词： unmanned aerial vehicle(UAV) visual localization autonomous navigation robot operating system

Real-Time Slice-to-Volume Registration-Based autonomous navigation for Robot-Assisted Thyroid Biopsy

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Journal of Shanghai Jiaotong university(Science) 2023年第3期28卷 330-338页

作者：李坚王星超钟敏郑剑孙正隆 School of Science and Engineering The Chinese University of Hong KongShenzhen 518172GuangdongChina Longgang District People’s Hospital Shenzhen 518172GuangdongChina

With advancements in medical imaging and robotic technology,the idea of fully autonomous diagnosis and treatment has become appealing,from ethereal to *** to its characteristics of non-invasiveness,non-radiation,and fast imaging speed,ultrasonography has been increasingly used in clinical practice,such as in obstetrics,gynecology,and surgical *** this paper,we propose a real-time image-based visual servo control scheme using a hybrid slice-to-volume registration *** this manner,the robot can autonomously locate the ultrasound probe to the desired posture according to preoperational planning,even in the presence of *** experiments are designed and conducted using a thyroid biopsy phantom *** results show that the proposed scheme can achieve a refresh rate of up to 30 Hz and a tracking accuracy of(0.52±0.65)mm.

关键词： slice-to-volume registration autonomous navigation thyroid biopsy

UAV autonomous navigation for Wireless Powered Data Collection with Onboard Deep Q-Network

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ZTE Communications 2023年第2期21卷 80-87页

作者： LI Yuting DING Yi GAO Jiangchuan LIU Yusha HU Jie YANG Kun School of Information and Communication Engineering University of Electronic Science and Technology of ChinaChengdu 611731China China Mobile Communications Group Jilin Co. Ltd.Changchun 130061China School of Computer Science and Electronic Engineering University of EssexColchester CO43SQUnited Kingdom

In a rechargeable wireless sensor network,utilizing the unmanned aerial vehicle(UAV)as a mobile base station(BS)to charge sensors and collect data effectively prolongs the network’s *** this paper,we jointly optimize the UAV’s flight trajectory and the sensor selection and operation modes to maximize the average data traffic of all sensors within a wireless sensor network(WSN)during finite UAV’s flight time,while ensuring the energy required for each sensor by wireless power transfer(WPT).We consider a practical scenario,where the UAV has no prior knowledge of sensor *** UAV performs autonomous navigation based on the status information obtained within the coverage area,which is modeled as a Markov decision process(MDP).The deep Q-network(DQN)is employed to execute the navigation based on the UAV position,the battery level state,channel conditions and current data traffic of sensors within the UAV’s coverage *** simulation results demonstrate that the DQN algorithm significantly improves the network performance in terms of the average data traffic and trajectory design.

关键词： unmanned aerial vehicle wireless power transfer deep Q-network autonomous navigation