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The use of UAVs for landslide disaster risk research and disaster risk management: a literature review

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Journal of Mountain Science 2021年第2期18卷 482-498页

作者： Ricardo J.GARNICA-PEÑA Irasema ALCÁNTARA-AYALA institute of Geography National Autonomous University of Mexico(UNAM)Mexico City 04510Mexico

On a global scale,from 2005 to 2019,there were 275 high-magnitude,low-frequency disasters that involved 14,172 fatalities and four million affected *** patterns have taken place during longer periods of time in recent *** paper aims to analyse the contribution of the international landslide research community to disaster risk reduction and disaster risk management in reference to the use of unmanned Aerial vehicles(UAVs)in a literature *** first section notes the relevance of disaster risk research contributions for the implementation of initiatives and strategies concerning disaster risk *** second section highlights background information and current applications of drones in the field of hazards and *** methodology,which included a systematic peer review of journals in the ISI Web of Science and SCOPUS,was presented in the third section,where the results include analyses of the considered *** study concludes that most current scholarly efforts remain rooted in hazards and post-disaster evaluation and *** landslide disaster risk research should be transdisciplinary in order to strengthen participation of the various relevant stakeholders in contributing to integrated disaster risk management at local,subnational,national,regional and global levels.

关键词： UAVs Landslides Disaster risk Landslide research Vulnerability Exposure Disaster risk management

BIO-inspired intelligent navigation: from methodology, system theory, to behavioural science

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Science China(Information Sciences) 2024年第9期67卷 333-335页

作者： Wenshuo LI Xin LIU Pengwei HU Jian YANG Xiang YU Lei GUO Hangzhou Innovation institute of Beihang University School of Automation Science and Electrical Engineering Beihang University School of Instrumentation and Optoelectronic Engineering Beihang University

It is crucial for unmanned systems to determine their motion information accurately, reliably, and in real time. This function is accomplished by the autonomous navigation module of the unmanned systems. By analogy to the animals,the autonomous navigation module can be regarded as the“sensory nerve center” of an unmanned system.

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Downwash airflow distribution pattern of hexa-copter unmanned aerial vehicles

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International Journal of Agricultural and Biological Engineering 2024年第4期17卷 24-34页

作者： Dengeru Yallappa Ramasamy Kavitha Allimuthu Surendrakumar Kannan Balaji Balakrishnan Suthakar Ayyasamy Paramasivam Mohan Kumar Yathendranaik Ravi Narayananaik Ashoka Kumar Kavan Department of Farm Machinery and Power Engineering Agricultural Engineering College and Research InstituteTamil Nadu Agricultural UniversityCoimbatore

In recent times,the use of vertical take-off and landing(VTOL)multi-rotor unmanned Aerial Vehicle(UAVs)for spraying chemical pesticides against weeds and pests has recently become *** current aerial spray application research is primarily focused on examining the influence of UAV spraying parameters such as flight height,travel speed,rotor configuration,droplet size,payload and wind *** downwash airflow velocity generated by the UAV rotor propeller has a significant impact on the droplet deposition process.A test rig was developed to measure the downwash airflow pattern generated by the rotor propeller of a *** this investigation,a six-rotor electric autonomous UAV sprayer was used to investigate the parameters and distribution laws of downwash airflow *** downwash airflow velocity was measured using portable anemometers mounted on the test rig at radial positions viz.,0 m,0.5 m,1 m,1.5 m and 2 m,perpendicular to(X)and parallel to the UAV’s flight direction(Y).The experiment was conducted at three levels of hover height,viz.,1 m,2 m and 3 m(Z)and three levels of payload,viz.,0 kg,5 kg,and 10 *** special downwash airflow distribution pattern was analysed using the Python programming language(Version 3.7).Results show that the downwash airflow velocity generated by the radial position of the UAV rotor is evenly distributed on the rotating loop and the standard deviation of the downwash airflow velocity is less than 0.5 m/*** maximum downwash airflow velocity of 13.8 m/s was observed below the rotor at 10 kg payload capacity,1 m hover height(Z),and 0.5 m in the *** minimum downwash wind field of 0.3 m/s was observed at 0 kg pay load capacity,1 m height,and 2 m in the *** downwash airflow velocity along each position in the radial direction of the rotor increases initially and then *** downwash airflow distribution results helps in mounting of spray nozzle configuration to drone sprayer which helps to

关键词： downwash air payload rotor propeller flight height distribution analysis flight direction

A memetic algorithm for path planning of curvature-constrained UAVs performing surveillance of multiple ground targets

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Chinese Journal of Aeronautics 2014年第3期27卷 622-633页

作者： Zhang Xing Chen Jie Xin Bin Peng Zhihong School of Automation Beijing Institute of Technology State Key Laboratory of intelligent Control and Decision of Complex Systems

The problem of generating optimal paths for curvature-constrained unmanned aerial vehicles （UAVs） performing surveillance of multiple ground targets is addressed in this paper. UAVs are modeled as Dubins vehicles so that the constraints of UAVs＇ minimal turning radius can be taken into account. In view of the effective surveillance range of the sensors equipped on UAVs, the problem is formulated as a Dubins traveling salesman problem with neighborhood （DTSPN）. Considering its prohibitively high computational complexity, the Dubins paths in the sense of terminal heading relaxation are introduced to simplify the calculation of the Dubins distance, and a boundary-based encoding scheme is proposed to determine the visiting point of every target neighborhood. Then, an evolutionary algorithm is used to derive the optimal Dubins tour. To further enhance the quality of the solutions, a local search strategy based on approximate gradient is employed to improve the visiting points of target neighborhoods. Finally, by a minor modification to the individual encoding, the algorithm is easily extended to deal with other two more sophisticated DTSPN variants （multi-UAV scenario and multiple groups of targets scenario）. The performance of the algorithm is demonstrated through comparative experiments with other two state-of-the-art DTSPN algorithms identified in literature. Numerical simulations exhibit that the algorithm proposed in this paper can find high-quality solutions to the DTSPN with lower computational cost and produce significantly improved performance over the other algorithms.

关键词： Approximate gradient Dubins traveling salesmanproblem with neighborhood Local search Memetic algorithm unmanned aerial vehicles

Adaptive Noise Identification in Vision-assisted Motion Estimation for unmanned Aerial vehicles

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International Journal of Automation and computing 2015年第4期12卷 413-420页

作者： Fan Zhou Wei Zheng Zeng-Fu Wang Department of Automation University of Science and Technology of China institute of intelligent Machines Chinese Academy of Sciences

Vision localization methods have been widely used in the motion estimation of unmanned aerial vehicles(UAVs).The noise of the vision location result is usually modeled as a white Gaussian noise so that this location result could be utilized as the observation vector in the Kalman filter to estimate the motion of the *** the noise of the vision location result is affected by external environment,the variance of the noise is ***,in previous researches,the variance is usually set as a fixed empirical value,which will lower the accuracy of the motion *** main contribution of this paper is that we proposed a novel adaptive noise variance identification(ANVI) method,which utilizes the special kinematic properties of the UAV for frequency analysis and then adaptively identifies the variance of the *** adaptively identified variance is used in the Kalman filter for more accurate motion *** performance of the proposed method is assessed by simulations and field experiments on a quadrotor *** results illustrate the effectiveness of the method.

关键词： Adaptive noise variance identification vision location motion estimation Kalman filter unmanned aerial vehicle.

Precedence-constrained path planning of messenger UAV for air-ground coordination

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Control Theory and Technology 2019年第1期17卷 13-23页

作者： Yulong DING Bin XIN Jie CHEN School of Automation Beijing Institute of Technology Beijing 700087 China Key Laboratory of intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China Beijing Advanced Innovation Center for intelligent Robots and Systems Beijing Institute of Technology Beijing 100081 China

This paper addresses an unmanned aerial vehicle (UAV) path planning problem for a team of cooperating heterogeneous vehicles composed of one UAV and multiple unmanned ground vehicles (UGVs). The UGVs are used as mobile actuators and scattered in a large area. To achieve multi-UGV communication and collaboration, the UAV serves as a messenger to fly over all task points to collect the task information and then flies all UGVs to transmit the information about tasks and UGVs. The path planning of messenger UAV is formulated as a precedence-constrained dynamic Dubins traveling salesman problem with neighborhood (PDDTSPN). The goal of this problem is to find the shortest route enabling the UAV to fly over all task points and deliver information to all requested UGVs. When solving this path planning problem, a decoupling strategy is proposed to sequentially and rapidly determine the access sequence in which the UAV visits task points and UGVs as well as the access location of UAV in the com mu nication n eighborhood of each task point and each UGV. The effectiveness of the proposed approach is corroborated through computational experiments on randomly generated instances. The computational results on both small and large in stances dem on strate that the proposed approach can generate high-quality solutions in a reasonable time as compared with two other heuristic algorithms.

关键词： Air-ground coordination curvature-constrained path planningz precedence constraints Dubins traveling salesman problem

Key Technologies in Connected autonomous Electrified vehicles

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Chinese Journal of Mechanical Engineering 2021年第5期34卷 1-2页

作者： Yugong Luo Wenbo Chu Dongpu Cao State Key Laboratory of Automotive Safety and Energy Tsinghua UniversityBeijing 100084China China intelligent and Connected vehicles(Beijing)Research institute Co. LtdBeijing 100176China Department of Mechanical and Mechatronics Engineering University of WaterlooWaterlooON N2L 3G1Canada

The rapid development of technologies such as artificial intelligence,Internet of Things,big data,and information communication has promoted the development of connected autonomous electrified vehicles with functions such as complex environment perception,intelligent decision-making,collaborative control,and *** main objective of this special issue aims at bringing scholars to show their latest research results in environmental perception systems.

关键词： autonomous connected promoted

Path planning for unmanned aerial vehicles in surveillance tasks under wind fields

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Journal of Central South University 2014年第8期21卷 3079-3091页

作者：张兴陈杰辛斌 School of Automation Beijing Institute of Technology State Key Laboratory of intelligent Control and Decision of Complex Systems

The optimal path planning for fixed-wing unmanned aerial vehicles(UAVs) in multi-target surveillance tasks(MTST) in the presence of wind is *** take into account the minimal turning radius of UAVs,the Dubins model is used to approximate the dynamics of *** on the assumption,the path planning problem of UAVs in MTST can be formulated as a Dubins traveling salesman problem(DTSP).By considering its prohibitively high computational cost,the Dubins paths under terminal heading relaxation are introduced,which leads to significant reduction of the optimization scale and difficulty of the whole ***,in view of the impact of wind on UAVs' paths,the notion of virtual target is *** application of the idea successfully converts the Dubins path planning problem from an initial configuration to a target in wind into a problem of finding the minimal root of a transcendental ***,the Dubins tour is derived by using differential evolution(DE) algorithm which employs random-key encoding technique to optimize the visiting sequence of ***,the effectiveness and efficiency of the proposed algorithm are demonstrated through computational *** results exhibit that the proposed algorithm can produce high quality solutions to the problem.

关键词： unmanned aerial vehicle path planning in wind field Dubins traveling salesman problem terminal heading relaxation differential evolution

Model predictive control for autonomous ground vehicles:a review

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autonomous intelligent Systems 2021年第1期1卷 32-48页

作者： Shuyou Yu Matthias Hirche Yanjun Huang Hong Chen Frank Allgöwer State Key Laboratory of Automotive Simulation and Control Jilin UniversityChangchun 130022China Department of Control Science and Engineering Jilin UniversityChangchunChina institute for Systems Theory and Automatic Control University of StuttgartPfaffenwaldring 9Stuttgart 70569Germany institute of intelligent vehicles Tongji UniversityShanghaiChina College of Electronic and Information Engineering Tongji UniversityShanghaiChina

This paper reviews model predictive control(MPC)and its wide applications to both single and multiple autonomous ground vehicles(AGVs).On one hand,MPC is a well-established optimal control method,which uses the predicted future information to optimize the control actions while explicitly considering *** the other hand,AGVs are able to make forecasts and adapt their decisions in uncertain ***,because of the nature of MPC and the requirements of AGVs,it is intuitive to apply MPC algorithms to *** are interesting not only for considering them alone,which requires centralized control approaches,but also as groups of AGVs that interact and communicate with each other and have their own controller *** calls for distributed control ***,a short introduction into the basic theoretical background of centralized and distributed MPC is ***,it comprehensively reviews MPC applications for both single and multiple ***,the paper highlights existing issues and future research directions,which will promote the development of MPC schemes with high performance in AGVs.

关键词： Model predictive control autonomous intelligent system autonomous ground vehicle