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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：最优路径规划无人机侦察任务风场无人飞机计算成本无人飞行器旅行商问题

Parallel Driving with Big Models and Foundation Intelligence in Cyber-hysical-ocial Spaces

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Research 2024年第2期7卷 1-17页

作者： Xiao Wang Jun Huang Yonglin Tian Chen Sun Lie Yang Shanhe Lou Chen Lv Changyin Sun Fei-Yue Wang School of Artificial Intelligence Anhui UniversityHefeiChina Macao University of Science and Technology MacaoChina State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijingChina MVSLab Department of Mechanical and Mechatronics EngineeringUniversity of Waterloo200 University Ave WestWaterlooON N2L3G1Canada School of Mechanical and Aerospace Engineering Nanyang Technological UniversitySingaporeSingapore

Recent years have witnessed numerous technical breakthroughs in connected and autonomous vehicles (CAVs). On the one hand, these breakthroughs have significantly advanced the development of intelligent transportation systems (ITSs);on the other hand, these new traffic participants introduce more complex and uncertain elements to ITSs from the social space. Digital twins (DTs) provide real-time, data-driven, precise modeling for constructing the digital mapping of physical-world ITSs. Meanwhile, the metaverse integrates emerging technologies such as virtual reality/mixed reality, artificial intelligence, and DTs to model and explore how to realize improved sustainability, increased efficiency, and enhanced safety. More recently, as a leading effort toward general artificial intelligence, the concept of foundation model was proposed and has achieved significant success, showing great potential to lay the cornerstone for diverse artificial intelligence applications across different domains. In this article, we explore the big models embodied foundation intelligence for parallel driving in cyber-physical-social spaces, which integrate metaverse and DTs to construct a parallel training space for CAVs, and present a comprehensive elucidation of the crucial characteristics and operational mechanisms. Beyond providing the infrastructure and foundation intelligence of big models for parallel driving, this article also discusses future trends and potential research directions, and the ?S?goals of parallel driving.

关键词： breakthrough integrate corners

Traffic accidents of autonomous vehicles based on knowledge mapping:A review

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Journal of Traffic and Transportation Engineering(English Edition) 2023年第6期10卷 1061-1073页

作者： Wei Ji Quan Yuan Gang Cheng Shengnan Yu Min Wang Zefang Shen Tiantong Yang Fada institute of Forensic Medicine&Science China University of Political Science and LawBeijing 100088China State Key Laboratory of intelligent Green Vehicle and Mobility School of Vehicle and MobilityTsinghua UniversityBeijing 100084China China University of Political Science and Law Beijing 100088China

As a characteristic representative of the new generation of vehicles,autonomous driving is expected to improve people's driving *** study on traffic accident of autonomous vehicles(AVs)helps provide suggestions for autonomous driving safety from multiple disciplines and perspectives,and provide support for formulating traffic accident treatment *** mapping,as a cutting-edge research method in bibliometrics,scientifically and objectively displays the relevant research status using visual *** paper uses CiteSpace 6.1.r3 to analyze 5068 related literature on the Web of Science database from 1991 to 2022 and finds out major thematic clusters,important documents and representative journals according to citation *** results show that research on traffic accidents involving AVs focuses on accident preventing technologies,including how to avoid collisions,track lane-position,and enhance vehicle-toeverything(V2X)*** paper extracts the mean research topics and key points involved in the field and illustrates journals related to AVs and traffic accidents,which provides guidance for subsequent researchers to carry out in-depth research and contribute their *** journals are in disciplines of mathematics,systems,computer,economics,and social *** paper also suggests scholars to consider the aspects of scene reconstruction,cause analysis,and injury of vulnerable road users,so as to investigate traffic accidents and put forward effective treatment schemes to reduce AV accidents,and ultimately improve road safety.

关键词： Traffic accident autonomous vehicle Knowledge mapping Bibliometric CiteSpace

Lidar-Visual-Inertial Odometry with Online Extrinsic Calibration

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Journal of Shanghai Jiaotong university(Science) 2023年第1期28卷 70-76页

作者：茅天阳赵文韬王景川陈卫东 Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240China Shanghai Engineering Research Center of intelligent Control and Management Shanghai 200240China

To achieve precise localization,autonomous vehicles usually rely on a multi-sensor perception system surrounding the mobile *** is a time-consuming process,and mechanical distortion will cause extrinsic calibration ***,we propose a lidar-visual-inertial odometry,which is combined with an adapted sliding window mechanism and allows for online nonlinear optimization and extrinsic *** the adapted sliding window mechanism,spatial-temporal alignment is performed to manage measurements arriving at different *** nonlinear optimization with online calibration,visual features,cloud features,and inertial measurement unit(IMU)measurements are used to estimate the ego-motion and perform extrinsic *** experiments were carried out on both public datasets and real-world *** indicate that the proposed system outperforms state-of-the-art open-source methods when facing challenging sensor-degenerating conditions.

关键词： autonomous vehicles multi-sensor fusion online calibration

Edge computing powers aerial swarms in sensing, communication, and planning

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The Innovation 2023年第6期4卷 11-12页

作者： Hai Zhu Quan Chen Xiaozhou Zhu Wen Yao Xiaoqian Chen Defense Innovation institute Chinese Academy of Military SciencesBeijing 100071China College of Aerospace Science and Engineering National University of Defense TechnologyChangsha 410073China intelligent Game and Decision Laboratory Beijing 100071China

The last decade has witnessed significant progress and extensive applications of unmanned aerial vehicles(UAVs),thanks to their exceptional mobility,cost-effectiveness,and versatile deployment capabilities.1 With continuous advances in sensing,communication,and processing technologies,using UAV swarms to provide cost-effective services in future smart cities is expected to become *** services encompass a wide spectrum of applications,ranging from large-scale infrastructure inspection,geospatial land surveying,and traffic/crowd monitoring,to three-dimensional terrain mapping.2 In these scenarios,UAVs are typically equipped with onboard sensors such as cameras and LiDARs,to gather environmental information by analyzing the sensor data such as captured videos and point *** key technologies to achieve autonomous information-gathering flight for UAV swarms include information extraction from sensor data,transmission and fusion of the extracted information among UAVs,and planning and coordination of their trajectories to ensure safe and efficient mission accomplishment.

关键词： communication gathering surveying

Localization and mapping in urban area based on 3D point cloud of autonomous vehicles

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Journal of Beijing institute of Technology 2016年第4期25卷 473-482页

作者：王美玲李玉杨毅朱昊刘彤 Key Laboratory of intelligent Control and Decision of Complex System School of AutomationBeijing Institute of Technology

In order to meet the application requirements of autonomous vehicles, this paper proposes a simultaneous localization and mapping （SLAM） algorithm, which uses a VoxelGrid filter to down sample the point cloud data, with the combination of iterative closest points （ICP） algorithm and Gaussian model for particles updating, the matching between the local map and the global map to quantify particles＇ importance weight. The crude estimation by using ICP algorithm can find the high probability area of autonomous vehicles＇ poses, which would decrease particle numbers, increase algorithm speed and restrain particles＇ impoverishment. The calculation of particles＇ importance weight based on matching of attribute between grid maps is simple and practicable. Experiments carried out with the autonomous vehicle platform validate the effectiveness of our approaches.

关键词： simultaneous localization and mapping (SLAM) Rao-Blackwellized particle filter ( RB-PF) VoxelGrid filter ICP algorithm Gaussian model urban area

Fault diagnosis method for stochastic systems with unknown parameters

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Fault diagnosis method for stochastic systems with unknown p...

Development and deep-sea exploration of the Haidou-1

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作者： Yang Heng-zhan Yang Kang Qian Fu-cai Research Center of autonomous unmanned Systems Research institute Xi'an Technological University School of automation and information engineering Xi'an University of technology

The problem of fault diagnosis in stochastic systems with unknown parameters is studied within dual control concept. This paper puts forward a conception of logic parameter decay rate based on the threshold, and has designed a rolling control algorithm learning control law based on Kalman filtering theory and Lqg control law, while this algorithm can estimate the parameters, on the side of the parameter learning, the system has good fault tolerance ability, thus more accurate fault detection and isolation, the simulation results verify the effectiveness of the proposed method.

关键词： Dual control Parameter decay rate Kalman filter Lqg control Rolling control algorithm

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工程管理前沿:英文版 2023年第3期10卷 546-549页

作者： Yuangui TANG Shuo LI State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China institute for Robotics and intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China Key Laboratory of Marine Robotics Liaoning ProvinceShenyang 110169China

1 Introduction The Haidou-1 autonomous and Remotely-operated Vehicle(hereinafter referred to as Haidou-1)(Fig.1)has been developed to address the significant demands for core key technologies and equipment in China’s deep and distant *** vehicle is capable of covering all global ocean depths up to a maximum of 11000 ***-ocean-depth underwater vehicles represent one of the highest technological and capability benchmarks in current international marine science research.

关键词： hadal zone autonomous and remotely-operated vehicle integrated exploration operation deep dive exceeding 10000 meters

A multiple heterogeneous UAVs reconnaissance mission planning and re-planning algorithm

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Journal of Systems Engineering and Electronics 2022年第6期33卷 1190-1207页

作者： HU Lei XI Boqi YI Guoxing ZHAO Hui ZHONG Jiapeng School of Astronautics Harbin Institute of TechnologyHarbin 150000China HIT(Anshan)institute of Industrial Technology Harbin Institute of TechnologyAnshan 114000China

Reconnaissance mission planning of multiple unmanned aerial vehicles(UAVs)under an adversarial environment is a discrete combinatorial optimization problem which is proved to be a non-deterministic polynomial(NP)-complete *** purpose of this study is to research intelligent multiUAVs reconnaissance mission planning and online re-planning algorithm under various constraints in mission *** numerous targets scattered in the wide area,a reconnaissance mission planning and re-planning system is established,which includes five modules,including intelligence analysis,sub-mission area division,mission sequence planning,path smoothing,and online *** intelligence analysis module depicts the attribute of targets and the heterogeneous characteristic of UAVs and computes the number of sub-mission areas on consideration of voyage distance *** the sub-mission area division module,an improved K-means clustering algorithm is designed to divide the reconnaissance mission area into several sub-mission areas,and each sub-mission is detected by the UAV loaded with various detective *** control reconnaissance cost,the sampling and iteration algorithms are proposed in the mission sequence planning module,which are utilized to solve the optimal or approximately optimal reconnaissance *** the path smoothing module,the Dubins curve is applied to smooth the flight path,which assure the availability of the planned ***,an online re-planning algorithm is designed for the uncertain factor that the UAV is ***,reconnaissance planning and re-planning experiment results show that the algorithm proposed in this paper are effective and the algorithms designed for sequence planning have a great advantage in solving efficiency and optimality.

关键词： reconnaissance mission planning sequence planning path smoothing combination optimization