Статті в журналах: "Waypoint tracking"

1

Ichihara, Kaito, Tadahiro Hasegawa, Shin’ichi Yuta, Hirohisa Ichikawa, and Yoshihide Naruse. "Waypoint-Based Human-Tracking Navigation for Museum Guide Robot." Journal of Robotics and Mechatronics 34, no. 5 (October 20, 2022): 1192–204. http://dx.doi.org/10.20965/jrm.2022.p1192.

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A visitor-following method that guides visitors as they move around was successfully developed without changing the structure of the waypoint navigation system. We previously developed a guidance robot, “EM-Ro,” to provide guidance services at the ECO35 Muffler Museum, and used the waypoint navigation system to implement a visitor-escort method along a predetermined route. With this visitor-following method, EM-Ro was able to follow a target visitor along visitor-derived waypoints, which were estimated using 2D LiDAR. Thus, the proposed navigation system for the guidance robot provides both visitor-escort and visitor-following guidance services. Using the same waypoint navigation system, it was possible to seamlessly switch between visitor-escort and visitor-following guidance. Switching between prepared or visitor-derived waypoints can make a visitor choose the preferred guidance method. Visitors can switch the guidance method anytime by providing EM-Ro requests from the remote controller. In addition, a guest redetecting method was developed when EM-Ro lost guests. The experimental results at the Muffler Museum showed that both visitor-escort and visitor-following driving by the EM-Ro were successfully demonstrated while guiding guests in the facility.

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2

Kang, Cheongwoong, Bumjin Park, and Jaesik Choi. "Scheduling PID Attitude and Position Control Frequencies for Time-Optimal Quadrotor Waypoint Tracking under Unknown External Disturbances." Sensors 22, no. 1 (December 27, 2021): 150. http://dx.doi.org/10.3390/s22010150.

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Recently, the use of quadrotors has increased in numerous applications, such as agriculture, rescue, transportation, inspection, and localization. Time-optimal quadrotor waypoint tracking is defined as controlling quadrotors to follow the given waypoints as quickly as possible. Although PID control is widely used for quadrotor control, it is not adaptable to environmental changes, such as various trajectories and dynamic external disturbances. In this work, we discover that adjusting PID control frequencies is necessary for adapting to environmental changes by showing that the optimal control frequencies can be different for different environments. Therefore, we suggest a method to schedule the PID position and attitude control frequencies for time-optimal quadrotor waypoint tracking. The method includes (1) a Control Frequency Agent (CFA) that finds the best control frequencies in various environments, (2) a Quadrotor Future Predictor (QFP) that predicts the next state of a quadrotor, and (3) combining the CFA and QFP for time-optimal quadrotor waypoint tracking under unknown external disturbances. The experimental results prove the effectiveness of the proposed method by showing that it reduces the travel time of a quadrotor for waypoint tracking.

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3

Lobo, Shawn. "Waypoint Based GPS Tracking." International Journal for Research in Applied Science and Engineering Technology 6, no. 3 (March 31, 2018): 2264–66. http://dx.doi.org/10.22214/ijraset.2018.3525.

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4

Gutiérrez, Rodrigo, Elena López-Guillén, Luis M. Bergasa, Rafael Barea, Óscar Pérez, Carlos Gómez-Huélamo, Felipe Arango, Javier del Egido, and Joaquín López-Fernández. "A Waypoint Tracking Controller for Autonomous Road Vehicles Using ROS Framework." Sensors 20, no. 14 (July 21, 2020): 4062. http://dx.doi.org/10.3390/s20144062.

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Automated Driving Systems (ADSs) require robust and scalable control systems in order to achieve a safe, efficient and comfortable driving experience. Most global planners for autonomous vehicles provide as output a sequence of waypoints to be followed. This paper proposes a modular and scalable waypoint tracking controller for Robot Operating System (ROS)-based autonomous guided vehicles. The proposed controller performs a smooth interpolation of the waypoints and uses optimal control techniques to ensure robust trajectory tracking even at high speeds in urban environments (up to 50 km/h). The delays in the localization system and actuators are compensated in the control loop to stabilize the system. Forward velocity is adapted to path characteristics using a velocity profiler. The controller has been implemented as an ROS package providing scalability and exportability to the system in order to be used with a wide variety of simulators and real vehicles. We show the results of this controller using the novel and hyper realistic CARLA Simulator and carrying out a comparison with other standard and state-of-art trajectory tracking controllers.

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5

AL TAHTAWI, ADNAN RAFI, ERICK ANDIKA, MAULANA YUSUF, and WILDAN NURFAUZAN HARJANTO. "Pengembangan Low-cost Quadrotor dengan Misi Waypoint Tracking Berbasis Pengendali PID." ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika 8, no. 1 (January 31, 2020): 189. http://dx.doi.org/10.26760/elkomika.v8i1.189.

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ABSTRAK Quadrotor merupakan salah satu jenis pesawat tanpa awak yang dapat bekerja secara autonomous dalam melaksanakan tugasnya. Beberapa quadrotor komersial yang dapat bekerja secara autonomous memiliki harga yang relatif mahal. Penelitian ini bertujuan untuk merancang dan mengembangkan sebuah quadrotor berbiaya rendah dengan misi waypoint tracking berbasis pengendali PID. Quadrotor dirancang menggunakan modul Ardupilot Mega 2.6 sebagai pengendali terbang. Modul ini cocok digunakan untuk pengembangan sebuah quadrotor berbiaya rendah karena telah terintegrasi dengan sebuah antarmuka dan panel pengendali PID. Misi waypoint tracking dengan pengendali PID digunakan untuk menguji kinerja dari quadrotor yang dirancang. Hasil pengujian menunjukkan bahwa quadrotor dapat terbang secara autonomous pada dua buah skenario waypoint. Pengendali PID yang digunakan mampu menstabilkan sikap terbang quadrotor dengan maksimum overshoot kurang dari 4°. Kata kunci: Pengendali PID, sikap terbang, autonomous, waypoint, quadrotor ABSTRACT Quadrotor is one type of unmanned aircraft that can work autonomously in carrying out its duties. Some commercial quadrotor that can work autonomously have a relatively expensive price. This study aims to design and develop a lowcost quadrotor with a waypoint tracking mission based on PID controller. Quadrotor is designed using the Ardupilot Mega 2.6 module as flight controller. This module is suitable for the development of a low-cost quadrotor because it has been integrated with an interface and PID controller panel. The waypoint tracking mission with PID controller is used to test the performance of the designed quadrotor. The test results show that quadrotor can fly autonomously in two waypoint scenarios. The PID controller used is able to stabilize the quadrotor attitude with a maximum overshoot less than 4°. Keywords: PID controller, flight attitude, autonomous, waypoint, quadrotor

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6

MISIR, Oğuz, Muhammed ÇELİK, and Levent GÖKREM. "Waypoint-Based Path Tracking Approach For Self-Organized Swarm Robots." Uluslararası Muhendislik Arastirma ve Gelistirme Dergisi 14, no. 2 (July 31, 2022): 799–815. http://dx.doi.org/10.29137/umagd.1118039.

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In this paper, a waypoint-based path tracking approach is suggested for the swarm robots to follow the desired path in an organized way. In the study, the applicability of the waypoint-based path tracking on the swarm robots that show flexible and scalable behavior has been demonstrated. To evaluate the proposed path planing approach with regard to scalability and flexibility, simulations have been applied in with/without obstacle arenas with different numbers of robots and according to different lookahead distances. With the proposed approach, each swarm robots exhibit swarm behavior in an organized manner depending on the distance of the lookahead to the path to track in the with / without obstacle arenas.

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7

Xu, Chengtao, Kai Zhang, Yushan Jiang, Shuteng Niu, Thomas Yang, and Houbing Song. "Communication Aware UAV Swarm Surveillance Based on Hierarchical Architecture." Drones 5, no. 2 (April 30, 2021): 33. http://dx.doi.org/10.3390/drones5020033.

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Multi-agent unmanned aerial vehicle (UAV) teaming becomes an essential part in science mission, modern warfare surveillance, and disaster rescuing. This paper proposes a decentralized UAV swarm persistent monitoring strategy in realizing continuous sensing coverage and network service. A two-layer (high altitude and low altitude) UAV teaming hierarchical structure is adopted in realizing the accurate object tracking in the area of interest (AOI). By introducing the UAV communication channel model in its path planning, both centralized and decentralized control schemes would be evaluated in the waypoint tracking simulation. The UAV swarm network service and object tracking are measured by metrics of communication link quality and waypoints tracking accuracy. UAV swarm network connectivity are evaluated over different aspects, such as stability and volatility. The comparison of proposed algorithms is presented with simulations. The result shows that the decentralized scheme outperforms the centralized scheme in the mission of persistent surveillance, especially on maintaining the stability of inner UAV swarm network while tracking moving objects.

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8

Oland, Espen, Rune Schlanbusch, and Raymond Kristiansen. "Underactuated Waypoint Tracking of a Fixed-Wing UAV*." IFAC Proceedings Volumes 46, no. 30 (2013): 126–33. http://dx.doi.org/10.3182/20131120-3-fr-4045.00007.

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9

Capello, Elisa, Giorgio Guglieri, and Gianluca Ristorto. "Guidance and control algorithms for mini UAV autopilots." Aircraft Engineering and Aerospace Technology 89, no. 1 (January 3, 2017): 133–44. http://dx.doi.org/10.1108/aeat-10-2014-0161.

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Purpose The aim of this paper is the implementation and validation of control and guidance algorithms for unmanned aerial vehicle (UAV) autopilots. Design/methodology/approach The path-following control of the UAV can be separated into different layers: inner loop for pitch and roll attitude control, outer loop on heading, altitude and airspeed control for the waypoints tracking and waypoint navigation. Two control laws are defined: one based on proportional integrative derivative (PID) controllers both for inner and outer loops and one based on the combination of PIDs and an adaptive controller. Findings Good results can be obtained in terms of trajectory tracking (based on waypoints) and of parameter variations. The adaptive control law guarantees smoothing responses and less oscillations and glitches on the control deflections. Practical implications The proposed controllers are easily implementable on-board and are computationally efficient. Originality/value The algorithm validation via hardware in the loop simulations can be used to reduce the platform set-up time and the risk of losing the prototype during the flight tests.

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10

Sun, Wenli, and Xu Gao. "Deep Learning-Based Trajectory Tracking Control forUnmanned Surface Vehicle." Mathematical Problems in Engineering 2021 (January 6, 2021): 1–22. http://dx.doi.org/10.1155/2021/8926738.

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Trajectory tracking control based on waypoint behavior is a promising way for unmanned surface vehicle (USV) to achieve autonomous navigation. This study is aimed at the guidance progress in the kinematics; the artificial intelligence method of deep learning is adopted to improve the trajectory tracking level of USV. First, two deep neural network (DNN) models are constructed to evaluate navigation effects and to estimate guidance law parameters in real time, respectively. We then pretrain the DNN using a Gaussian–Bernoulli restricted Boltzmann machine to further improve the accuracy of predicting navigation effect. Finally, two DNNs are connected in parallel with the control loop of USV to provide predictive supervision and auxiliary decision making for traditional control methods. This kind of parallel way conforms to the ship manipulation of habit. Furthermore, we develop a new application on the basis of Mission Oriented Operating Suite Interval Programming named “pDeepLearning.” It can predict the navigation effect online by DNN and adjust the guidance law parameters according to the effect level. The experimental results show that, compared with the original waypoint behavior of USV, the prediction model proposed in this study reduces the trajectory tracking error by 19.0% and increases the waypoint behavior effect level.

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11

Sun, Wenli, and Xu Gao. "Deep Learning-Based Trajectory Tracking Control forUnmanned Surface Vehicle." Mathematical Problems in Engineering 2021 (January 6, 2021): 1–22. http://dx.doi.org/10.1155/2021/8926738.

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Trajectory tracking control based on waypoint behavior is a promising way for unmanned surface vehicle (USV) to achieve autonomous navigation. This study is aimed at the guidance progress in the kinematics; the artificial intelligence method of deep learning is adopted to improve the trajectory tracking level of USV. First, two deep neural network (DNN) models are constructed to evaluate navigation effects and to estimate guidance law parameters in real time, respectively. We then pretrain the DNN using a Gaussian–Bernoulli restricted Boltzmann machine to further improve the accuracy of predicting navigation effect. Finally, two DNNs are connected in parallel with the control loop of USV to provide predictive supervision and auxiliary decision making for traditional control methods. This kind of parallel way conforms to the ship manipulation of habit. Furthermore, we develop a new application on the basis of Mission Oriented Operating Suite Interval Programming named “pDeepLearning.” It can predict the navigation effect online by DNN and adjust the guidance law parameters according to the effect level. The experimental results show that, compared with the original waypoint behavior of USV, the prediction model proposed in this study reduces the trajectory tracking error by 19.0% and increases the waypoint behavior effect level.

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12

Ghofur M., Abdul, Yudhi Darmawan, and Muhammad Ridwan. "The Design And Build of Telemetry system Portable Ground Control Station (GCS) as Control and Monitoring on Unmanned Aerial Vehicle (UAV) Aircraft Galak-24." Jurnal Telkommil 2, Oktober (October 25, 2020): 37–46. http://dx.doi.org/10.54317/kom.v2ioktober.180.

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Abstract – Ground Control Station (GCS) is a very important part in controlling and monitoring UAV aircraft as well as monitoring a mission so that operators at the home base can send mission orders. The importance of this mission requires a system in this case, namely the GCS that can be connected to various types of unmanned vehicles. This study develops a GCS system that is used for controlling and monitoring the condition of UAV aircraft and sending waypoint tracking mission commands that are connected to a cloud server via the internet. This system consists of two units, namely the flight unit and the video unit, the flight unit consists of a flight controller, the video unit is a system that is on a camera connected to telemetry and connected to the internet so that it can be accessed via the internet, thus controlling and monitoring UAV aircraft and target control delivery on the GCS will be accessible anywhere via the internet. The GCS system has been able to display the condition of the aircraft status, sending flight hover mission commands, land and sending missions, namely tracking waypoints and camera object coordinates. In areas where the mission's 4G internet signal can run smoothly by sending 15 takeoff and landing control waypoints which manually with precision results, the fix wings type UAV aircraft can pass through several tracking waypoints that experience errors.

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13

Yamagata, Hirokazu, Shuma Kochii, Hiroshi Yoshida, Yoshifumi Nogi, and Toshihiro Maki. "Development of AUV MONACA - Hover-Capable Platform for Detailed Observation Under Ice –." Journal of Robotics and Mechatronics 33, no. 6 (December 20, 2021): 1223–33. http://dx.doi.org/10.20965/jrm.2021.p1223.

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The melting of ice and changes in ocean currents in Antarctica must be investigated to understand global climate change. In this regard, the volume changes of sea ice and ice shelves, bathymetry, and ocean currents in the Antarctic Ocean must be measured in three dimensions. Therefore, the use of autonomous underwater vehicles (AUVs), which can directly observe under ice, is being considered. The authors developed an AUV named Mobility Oriented Nadir AntarctiC Adventurer (MONACA) to observe sea ice and the lower region of the ice shelf in the Antarctic Ocean. Herein, we describe MONACA and its basic autonomous navigation methods (altitude control, depth control, and waypoint tracking), as well as report the results of a sea experiment conducted in Shimoda Bay, Japan. During the 5-day sea trial, the MONACA successfully measured bathymetry by tracking 15 waypoints in sequence, switching the control criteria in the -axis direction between 3 m depth and 3 m altitude.

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14

Yuan, Jian, Hailin Liu, and Wenxia Zhang. "Waypoint Tracking Control for Autonomous Mobile Sampling and Dissolved Oxygen Enrichment of Unmanned Surface Vehicle." Journal of Robotics 2022 (March 31, 2022): 1–10. http://dx.doi.org/10.1155/2022/3652329.

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An autonomous monitoring and control system of unmanned surface vehicle (USV) with mobile water quality monitoring, sampling, and oxygenation functions is constructed. The control hardware and monitoring configuration software of the system is designed, respectively, which can be installed on USV and its remote control and monitoring terminal. The kinematic modeling of USV, waypoint trajectory-tracking control, distributed controller, simulation of tracking control, and verification of software and hardware design are carried out. In order to reject the system noise and external noise, a states estimation method with fully observable states is considered in the control law design. The software and hardware are also implemented to verify the effectiveness of the monitoring platform. Through setting a series of monitoring target points and monitoring parameters in the configuration software of the remote user terminal or in the APP of the mobile user terminal, the USV can realize the automatic cruise monitoring using an autonomous navigation and tracking control algorithm, and quantitative water sampling collection. The reliability of the system is verified by the experiment of the shore test station, and the waypoint trajectory tracking and sensors data are replaying in a logview GUI of MOOS-Ivp and APP.

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15

Guo, Jenhwa. "A waypoint-tracking controller for a biomimetic autonomous underwater vehicle." Ocean Engineering 33, no. 17-18 (December 2006): 2369–80. http://dx.doi.org/10.1016/j.oceaneng.2005.11.012.

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16

Li, Z., T. Yang, and Z. Feng. "Re-entry guidance method based on decoupling control variables and waypoint." Aeronautical Journal 123, no. 1262 (April 2019): 523–35. http://dx.doi.org/10.1017/aer.2019.4.

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ABSTRACTGenerally, earth rotating and non-spherical perturbation of the earth in re-entry motion model are simplified using the standard trajectory guidance method. The re-entry motion is also simplified to horizontal motion and vertical motion and controlled, respectively. The simplification of re-entry motion model will lead to loss of motion accuracy and location accuracy. The direct decomposition will lead to the reduction of control accuracy because the horizontal motion and the vertical motion are coupled in re-entry. To improve the standard trajectory guidance method, the standard trajectory guidance method based on decoupling control variables and waypoint is proposed in this paper. The proposed guidance method will not simplify earth rotating and non-spherical perturbation of the earth in motion equation or decompose the re-entry motion to horizontal motion and vertical motion. Trajectory waypoint is adopted to reduce the change frequency of tracking states, because tracking states change frequently if the entire standard trajectory is tracked in real time.

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17

Son, Nam-Sun, and Hyeon-Kyu Yoon. "Study on a Waypoint Tracking Algorithm for Unmanned Surface Vehicle (USV)." Journal of Korean navigation and port research 33, no. 1 (March 1, 2009): 35–41. http://dx.doi.org/10.5394/kinpr.2009.33.1.035.

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18

Muralidharan, Vijay, and Arun D. Mahindrakar. "Position Stabilization and Waypoint Tracking Control of Mobile Inverted Pendulum Robot." IEEE Transactions on Control Systems Technology 22, no. 6 (November 2014): 2360–67. http://dx.doi.org/10.1109/tcst.2014.2300171.

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19

Nyangaresi, Vincent Omollo, Silvance O. Abeka, and Anthony J. Rodrigues. "Tracking Area Boundary-aware Protocol for Pseudo Stochastic Mobility Prediction in LTE Networks." International Journal of Information Technology and Computer Science 12, no. 5 (October 8, 2020): 52–62. http://dx.doi.org/10.5815/ijitcs.2020.05.04.

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Accurate mobility prediction enables efficient and faster paging services in these networks. This in turn facilitates the attainment of higher bandwidths and execution of activities such as handovers at low latencies. The conventional mobility prediction models operate on unrealistic assumptions that make them unsuitable for cellular network mobile station tracking. For instance, the Feynman-Verlet, first order kinetic model and Random Waypoint assume that mobile phones move with constant velocity while Manhattan, Freeway, city area, street unit, obstacle mobility, and pathway mobility postulate that mobile station movement is restricted along certain paths. In addition, obstacle mobility model speculate that the mobile station signal is completely absorbed by an obstacle while random walk, random waypoint, Markovian random walk, random direction, shortest path model, normal walk, and smooth random assume that a mobile station can move in any direction. Moreover, the greatest challenge of the random direction model is the requirement that a border behavior model be specified for the reaction of mobile stations reaching the simulation area boundary. In this paper, a protocol that addresses the border behavior problem is developed. This protocol is shown to detect when the subscriber has moved out of the current tracking area, which is crucial during handovers.

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20

Wang, Rui, Yu Wang, Shuo Wang, Chong Tang, and Min Tan. "Switching Control for 3-D Waypoint Tracking of a Biomimetic Underwater Vehicle." International Journal of Offshore and Polar Engineering 28, no. 3 (September 1, 2018): 255–62. http://dx.doi.org/10.17736/ijope.2018.mt22.

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21

Kim, Do Wan, Moon Hwan Kim, Ho-Gyu Park, and Tae-Yeong Kim. "Waypoint Tracking of Large Diameter Unmanned Underwater Vehicles with X-stern Configuration." Transactions of The Korean Institute of Electrical Engineers 66, no. 2 (February 1, 2017): 387–93. http://dx.doi.org/10.5370/kiee.2017.66.2.387.

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22

Jeong, Junho, Seungkeun Kim, and Jinyoung Suk. "Control System Design for a Ducted-Fan Unmanned Aerial Vehicle Using Linear Quadratic Tracker." International Journal of Aerospace Engineering 2015 (2015): 1–12. http://dx.doi.org/10.1155/2015/364926.

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Tracking control system based on linear quadratic (LQ) tracker is designed for a ducted-fan unmanned aerial vehicle (UAV) under full flight envelope including hover, transition, and cruise modes. To design the LQ tracker, a system matrix is augmented with a tracking error term. Then the control input can be calculated to solve a single Riccati equation, but the steady-state errors might still remain in this control system. In order to reduce the steady-state errors, a linear quadratic tracker with integrator (LQTI) is designed to add an integral term of tracking state in the state vector. Then the performance of the proposed controller is verified through waypoint navigation simulation under wind disturbance.

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23

Algarín-Pinto, Juan Antonio, Luis E. Garza-Castañón, Adriana Vargas-Martínez, and Luis I. Minchala-Ávila. "Modeling, Trajectory Analysis and Waypoint Guidance System of a Biomimetic Underwater Vehicle Based on the Flapping Performance of Its Propulsion System." Electronics 11, no. 4 (February 11, 2022): 544. http://dx.doi.org/10.3390/electronics11040544.

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The performance of biomimetic underwater vehicles directly depends on the correct design of their propulsion system and its control. These vehicles can attain highly efficient motion, hovering and thrust by properly moving part(s) of their bodies. In this article, a mathematical modeling and waypoint guidance system for a biomimetic autonomous underwater vehicle (BAUV) is proposed. The BAUV achieves sideways and dorsoventral thunniform motion by flapping its caudal fin through a parallel mechanism. Also, an analysis of the vehicle’s design is presented. A thrust analysis was performed based on the novel propulsion system. Furthermore, the vehicle’s kinematics and dynamic models were derived, where hydrodynamic equations were obtained as well. Computed models were validated using simulations where thrust and moment analysis was employed to visualize the vehicle’s performance while swimming. For the path tracking scheme, a waypoint guidance system was designed to correct the vehicle’s direction toward several positions in space. To accurately obtain waypoints, correction over the propeller’s flapping frequency and bias was employed to achieve proper thrust and orientation of the vehicle. The results from numerical simulations showed how by incorporating this novel propulsion strategy, the BAUV improved its performance when diving and maneuvering based on the dorsoventral and/or sideways configuration of its swimming mode. Furthermore, by designing proper strategies to regulate the flapping performance of its caudal fin, the BAUV followed the desired trajectories. The efficiency for the designed strategy was obtained by comparing the vehicle’s traveled distance and ideal scenarios of straight-line trajectories between targets. During simulations, the designed guidance system presented an efficiency of above 80% for navigation tasks.

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Kim, Do Wan, Jeong-Hoon Park, Ho-Gyu Park, and Tae-Yeong Kim. "Robust Waypoint Tracking of Large Diameter Unmanned Underwater Vehicles with Uncertain Hydrodynamic Coefficients." Transactions of The Korean Institute of Electrical Engineers 66, no. 2 (February 1, 2017): 409–15. http://dx.doi.org/10.5370/kiee.2017.66.2.409.

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25

Cai, Wenjing, Jinhua She, Min Wu, and Yasuhiro Ohyama. "Quadrotor waypoint-tracking control under exogenous disturbances based on equivalent-input-disturbance approach." Journal of the Franklin Institute 357, no. 8 (May 2020): 4709–41. http://dx.doi.org/10.1016/j.jfranklin.2020.02.014.

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26

Pebrianti, Dwi, WeiWang, Daisuke Iwakura, Yuze Song, and Kenzo Nonami. "Sliding Mode Controller for Stereo Vision Based Autonomous Flight of Quad-Rotor M." Journal of Robotics and Mechatronics 23, no. 1 (February 20, 2011): 137–48. http://dx.doi.org/10.20965/jrm.2011.p0137.

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We have investigated the possibility of a Sliding Mode Controller (SMC) for autonomous hovering and waypoint of a quad-rotor Micro Aerial Vehicle (MAV) based on an on ground stereo vision system. The object tracking used here is running average background subtraction. Among the background subtraction algorithms for object tracking, running average is known to have the fastest processing speed and the lowest memory requirement. Stereo vision system is known to have a good performance in measuring the distance from camera to object without any information regarding the object geometry in advance. SMC is known to have advantage of insensitivity to the model errors, parametric uncertainties and other disturbances. The experiment on autonomous hovering and way-point by using running average method for object tracking and SMC for the flight control shows a reliable result.

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27

Bai, Ye, and Srikanth Gururajan. "Evaluation of a Baseline Controller for Autonomous “Figure-8” Flights of a Morphing Geometry Quadcopter: Flight Performance." Drones 3, no. 3 (August 31, 2019): 70. http://dx.doi.org/10.3390/drones3030070.

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This article describes the design, fabrication, and flight test evaluation of a morphing geometry quadcopter capable of changing its intersection angle in-flight. The experiments were conducted at the Aircraft Computational and Resource Aware Fault Tolerance (AirCRAFT) Lab, Parks College of Engineering, Aviation and Technology at Saint Louis University, St. Louis, MO. The flight test matrix included flights in a “Figure-8” trajectory in two different morphing configurations (21° and 27°), as well as the nominal geometry configuration, two different flight velocities (1.5 m/s and 2.5 m/s), two different number of waypoints, and in three planes—horizontal, inclined, and double inclined. All the experiments were conducted using standard, off-the-shelf flight controller (Pixhawk) and autopilot firmware. Simulations of the morphed geometry indicate a reduction in pitch damping (42% for 21° morphing and 57.3% for 27° morphing) and roll damping (63.5% for 21° morphing and 65% for 27° morphing). Flight tests also demonstrated that the dynamic stability in roll and pitch dynamics were reduced, but the quadcopter was still stable under morphed geometry conditions. Morphed geometry also has an effect on the flight performance—with a higher number of waypoints (30) and higher velocity (2.5 m/s), the roll dynamics performed better as compared to the lower waypoints and lower velocity condition. The yaw dynamics remained consistent through all the flight conditions, and were not significantly affected by asymmetrical morphing of the quadcopter geometry. We also determined that higher waypoint and flight velocity conditions led to a small performance improvement in tracking the desired trajectory as well.

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28

Pazderski, Dariusz. "Waypoint Following for Differentially Driven Wheeled Robots with Limited Velocity Perturbations." Journal of Intelligent & Robotic Systems 85, no. 3-4 (June 28, 2016): 553–75. http://dx.doi.org/10.1007/s10846-016-0391-7.

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AbstractIn this paper a unified motion control strategy dedicated for the waypoint following task realized by a differentially driven robot is presented. It is assumed that the vehicle moves with limited velocities and accelerations in order to reduce excessive slip and skid effects. In order to include operational constraints, a motion planner is combined with a universal stabilizer taking advantage of transverse functions. To improve tracking precision translated transverse functions are deployed and a new adaptive technique for the controller tuning is proposed. During the motion planning stage an auxiliary trajectory connecting points in the configuration space and satisfying assumed phase constraints is generated. The resulting motion execution system has been implemented on a laboratory-scale skid-steering mobile robot, which served as platform for experimental validation of presented algorithms.

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29

Sola, Yoann, Gilles Le Chenadec, and Benoit Clement. "Simultaneous Control and Guidance of an AUV Based on Soft Actor–Critic." Sensors 22, no. 16 (August 14, 2022): 6072. http://dx.doi.org/10.3390/s22166072.

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The marine environment is a hostile setting for robotics. It is strongly unstructured, uncertain, and includes many external disturbances that cannot be easily predicted or modeled. In this work, we attempt to control an autonomous underwater vehicle (AUV) to perform a waypoint tracking task, using a machine learning-based controller. There has been great progress in machine learning (in many different domains) in recent years; in the subfield of deep reinforcement learning, several algorithms suitable for the continuous control of dynamical systems have been designed. We implemented the soft actor–critic (SAC) algorithm, an entropy-regularized deep reinforcement learning algorithm that allows fulfilling a learning task and encourages the exploration of the environment simultaneously. We compared a SAC-based controller with a proportional integral derivative (PID) controller on a waypoint tracking task using specific performance metrics. All tests were simulated via the UUV simulator. We applied these two controllers to the RexROV 2, a six degrees of freedom cube-shaped remotely operated underwater Vehicle (ROV) converted in an AUV. We propose several interesting contributions as a result of these tests, such as making the SAC control and guiding the AUV simultaneously, outperforming the PID controller in terms of energy saving, and reducing the amount of information needed by the SAC algorithm inputs. Moreover, our implementation of this controller allows facilitating the transfer towards real-world robots. The code corresponding to this work is available on GitHub.

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30

Bi, Shusheng, Chuanmeng Niu, Yueri Cai, Lige Zhang, and Houxiang Zhang. "A waypoint-tracking controller for a bionic autonomous underwater vehicle with two pectoral fins." Advanced Robotics 28, no. 10 (February 20, 2014): 673–81. http://dx.doi.org/10.1080/01691864.2014.888373.

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31

Han, Dong-in, Jong-hun Kim, Chan-oh Min, Sung-jin Jo, Jeong-ho Kim, and Dae-woo Lee. "Development of Unmanned Aerial Vehicle (UAV) system with waypoint tracking and vision-based reconnaissance." International Journal of Control, Automation and Systems 8, no. 5 (October 2010): 1091–99. http://dx.doi.org/10.1007/s12555-010-0518-8.

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32

Tran, Huu Khoa, and Thanh Nam Nguyen. "Flight Motion Controller Design using Genetic Algorithm for a Quadcopter." Measurement and Control 51, no. 3-4 (April 2018): 59–64. http://dx.doi.org/10.1177/0020294018768744.

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In this study, the Genetic Algorithm operability is assigned to optimize the proportional–integral–derivative controller parameters for both simulation and real-time operation of quadcopter flight motion. The optimized proportional–integral–derivative gains, using Genetic Algorithm to minimum the fitness function via the integral of time multiplied by absolute error criterion, are then integrated to control the quadcopter flight motion. In addition, the proposed controller design is successfully implemented to the experimental real-time flight motion. The performance results are proven that the highly effective stability operation and the reliable of waypoint tracking.

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33

Chen, Yung-Yue, Chun-Yen Lee, Shao-Han Tseng, and Wei-Min Hu. "Nonlinear Optimal Control Law of Autonomous Unmanned Surface Vessels." Applied Sciences 10, no. 5 (March 2, 2020): 1686. http://dx.doi.org/10.3390/app10051686.

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For energy conservation, nonlinear-optimal-control-law design for marine surface vessels has become a crucial ocean technology for the current ship industry. A well-controlled marine surface vessel with optimal properties must possess accurate tracking capability for accomplishing sailing missions. To achieve this design target, a closed-form nonlinear optimal control law for the trajectory- and waypoint-tracking problem of autonomous marine surface vessels (AUSVs) is presented in this investigation. The proposed approach, based on the optimal control concept, can be effectively applied to generate control commands on marine surface vessels operating in sailing scenarios where ocean environmental disturbances are random and unpredictable. In general, it is difficult to directly obtain a closed-form solution from this optimal tracking problem. Fortunately, by having the adequate choice of state-variable transformation, the nonlinear optimal tracking problem of autonomous marine surface vessels can be converted into a solvable nonlinear time-varying differential equation. The solved closed-form solution can also be acquired with an easy-to-implement control structure for energy-saving purposes.

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34

Dong, Yuqin, Nailong Wu, Jie Qi, Xinyuan Chen, and Chenhua Hua. "Predictive Course Control and Guidance of Autonomous Unmanned Sailboat Based on Efficient Sampled Gaussian Process." Journal of Marine Science and Engineering 9, no. 12 (December 12, 2021): 1420. http://dx.doi.org/10.3390/jmse9121420.

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In view of the vulnerability of ocean unmanned sailboats to the large lateral velocities due to wind and waves during navigation, this paper proposes a Gaussian Process Model Predictive Control (GPMPC) method based on data-driven learning technique to improve the navigation tracking accuracy of unmanned sailboats. The feature model of the sailing course change subject to the wind and waves is learned from the efficient sampling data. It is then combined with the model predictive control to form the course controller. To reduce the influence of wind and waves disturbances, an adaptive weight term is designed in the object function to improve the tracking accuracy of the model predictive control. The guidance commands received by the model predictive controller take into account the path deviation caused by the current and lateral motion of the ship. The results show that GPMPC has the advantages of fast response time and less overshoot; the unmanned sailboat can better achieve waypoint tracking by learning navigation data.

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35

Giuseppi, Alessandro, Roberto Germanà, Federico Fiorini, Francesco Delli Priscoli, and Antonio Pietrabissa. "UAV Patrolling for Wildfire Monitoring by a Dynamic Voronoi Tessellation on Satellite Data." Drones 5, no. 4 (November 3, 2021): 130. http://dx.doi.org/10.3390/drones5040130.

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Fire monitoring and early detection are critical tasks in which Unmanned Aerial Vehicles (UAVs) are commonly employed. This paper presents a system to plan the drone patrolling schedule according to a real-time estimation of a fire propagation index that is derived from satellite data, such as the Normalized Difference Vegetation Index (NDVI) measurement and the Digital Elevation Model (DEM) of the surveilled area. The proposed system employs a waypoint scheduling logic, derived from a dynamic Voronoi Tessellation of the area, that combines characteristics of the territory (e.g., vegetation density) with real-time measurements (e.g., wind speed and direction). The system is validated on a case study in Italy, in the municipality of the city of L’Aquila, on three different fire scenarios. In normal situations, the designed waypoint-based navigation system provided an effective monitoring of the area, enabling the early detection of starting fires. The developed solution also demonstrated good performance in tracking and anticipating the fire front advance, potentially providing a better situational awareness to emergency operators and support their response policies. Both the test environment and the simulator have been made open-source.

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36

Panetsos, Fotis, Panagiotis Rousseas, George Karras, Charalampos Bechlioulis, and Kostas J. Kyriakopoulos. "A Vision-Based Motion Control Framework for Water Quality Monitoring Using an Unmanned Aerial Vehicle." Sustainability 14, no. 11 (May 26, 2022): 6502. http://dx.doi.org/10.3390/su14116502.

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In this paper, we present a vision-aided motion planning and control framework for the efficient monitoring and surveillance of water surfaces using an Unmanned Aerial Vehicle (UAV). The ultimate goal of the proposed strategy is to equip the UAV with the necessary autonomy and decision-making capabilities to support First Responders during emergency water contamination incidents. Toward this direction, we propose an end-to-end solution, based on which the First Responder indicates visiting and landing waypoints, while the envisioned strategy is responsible for the safe and autonomous navigation of the UAV, the refinement of the way-point locations that maximize the visible water surface area from the onboard camera, as well as the on-site refinement of the appropriate landing region in harsh environments. More specifically, we develop an efficient waypoint-tracking motion-planning scheme with guaranteed collision avoidance, a local autonomous exploration algorithm for refining the way-point location with respect to the areas visible to the drone’s camera, water, a vision-based algorithm for the on-site area selection for feasible landing and finally, a model predictive motion controller for the landing procedure. The efficacy of the proposed framework is demonstrated via a set of simulated and experimental scenarios using an octorotor UAV.

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37

FARID, Ghulam, Haris TAHIR HAMID, Shahid KARIM, and Sohaib TAHIR. "Waypoint-Based Generation of Guided and Optimal Trajectories for Autonomous Tracking Using a Quadrotor UAV." Studies in Informatics and Control 27, no. 2 (January 7, 2019): 223–34. http://dx.doi.org/10.24846/v27i2y201810.

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38

Kikutis, Ramūnas, Jonas Stankūnas, and Darius Rudinskas. "AUTONOMOUS UNMANNED AERIAL VEHICLE FLIGHT ACCURACY EVALUATION FOR THREE DIFFERENT PATH-TRACKING ALGORITHMS." Transport 34, no. 6 (December 19, 2019): 652–61. http://dx.doi.org/10.3846/transport.2019.11741.

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This paper shows mathematical results of three methods, which can be used for Unmanned Aerial Vehicle (UAV) to make transition from one flight leg to another. In paper, we present general equations, which can be used for generating waypoint-switching methods when for experiment purpose mathematical UAV model is used. UAV is modelled as moving dot, which eliminates all of the aerodynamics factors and we can concentrate only on the navigation problems. Lots of attention is dedicated to show possible flight path error values with representation of modelled flight path trajectories and deviations from the flight mission path. All of the modelled flight missions are done in two-dimensional space and all the results are evaluated by looking at Probability Density Function (PDF) values, as we are mostly interested in the probability of the error.

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39

Oktaf Agni Dhewa, Tri Kuntoro Priyambodo, Aris Nasuha, and Yasir Mohd Mustofa. "ENHANCEMENT OF STABILITY ON AUTONOMOUS WAYPOINT MISSION OF QUADROTOR USING LQR INTEGRATOR CONTROL." IIUM Engineering Journal 23, no. 1 (January 4, 2022): 129–58. http://dx.doi.org/10.31436/iiumej.v23i1.1803.

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The ability of the quadrotor in the waypoint trajectory tracking becomes an essential requirement in the completion of various missions nowadays. However, the magnitude of steady-state errors and multiple overshoots due to environmental disturbances leads to motion instability. These conditions make the quadrotor experience a shift and even change direction from the reference path. As a result, to minimize steady-state error and multiple overshoots, this study employs a Linear Quadratic Regulator control method with the addition of an Integrator. Comparisons between LQR without Integrator and LQR with Integrator were performed. They were implemented on a quadrotor controller to track square and zig-zag waypoint patterns. From experimental results, LQR without Integrator produce of 2 meters steady-state error and -1.04 meters undershoot average with an accuracy of 64.84 % for square pattern, along 3.19 meters steady-state error, and -1.12 meters undershoot average with an accuracy of 46.73 % for a zig-zag way. The LQR method with integrator produce of 1.06 meters steady-state error with accuracy 94.96 % without multiple-overshoot for square pattern, the 1.06 meters steady-state error, and -0.18 meters undershoot average with an accuracy of 86.49 % for the zig-zag way. The results show that the LQR control method with Integrator can minimize and improve steady-state error and multiple overshoots in quadrotor flight. The condition makes the quadrotor able to flying path waypoints with the correct system specification. ABSTRAK: Kemampuan quadrotor dalam pengesanan lintasan waypoint menjadi syarat penting dalam menyelesaikan pelbagai misi pada masa kini. Walau bagaimanapun, besarnya ralat keadaan mantap dan banyak kelebihan kerana gangguan persekitaran menyebabkan ketidakstabilan pergerakan. Keadaan ini menjadikan quadrotor mengalami pergeseran dan bahkan mengubah arah dari jalur rujukan. Oleh itu, kajian ini menggunakan kaedah kawalan Linear Quadratic Regulator dengan penambahan integrator dalam meminimumkan ralat keadaan mantap dan banyak kelebihan. Perbandingan antara LQR tanpa Integrator dan LQR dengan Integrator dilakukan. Mereka dilaksanakan pada pengawal quadrotor untuk mengesan corak titik jalan persegi dan zig-zag. Dari hasil eksperimen, LQR tanpa Integrator menghasilkan ralat keadaan mantap 2 meter dan -1.04 meter rata-rata undur tembak dengan ketepatan 64.84% untuk corak persegi, sepanjang ralat keadaan tetap 3.19 meter, dan -1.12 meter rata-rata undur bawah dengan ketepatan 46.73 % untuk cara zig-zag. Kaedah LQR dengan integrator menghasilkan ralat keadaan mantap 1.06 meter dengan ketepatan 94.96% tanpa tembakan berlebihan untuk corak segi empat sama, ralat keadaan mantap 1.06 meter, dan rata-rata undur tembak -0.18 meter dengan ketepatan 86.49% untuk zig-zag cara. Hasilnya menunjukkan bahawa kaedah kawalan LQR dengan Integrator dapat meminimumkan dan memperbaiki ralat keadaan mantap dan banyak overhoot dalam penerbangan quadrotor. Keadaan tersebut menjadikan quadrotor dapat terbang ke titik jalan dengan spesifikasi sistem yang betul.

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40

Li, Xinfei, Zhongyu Jin, and Lihui Wang. "A Systematic Pipelaying Control Method Based on the Sliding Matrix for Dynamically Positioned Surface Vessels." Journal of Sensors 2022 (January 25, 2022): 1–16. http://dx.doi.org/10.1155/2022/9702532.

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A pipelaying control method is presented in this paper which includes path planning, path guidance, and path tracking controller for dynamically positioned (DP) surface vessels based on the characteristics of the predefined path in marine pipelaying operation. The pipelaying control method depends on path coding, path selection logic system, and a sliding matrix. The sliding matrix contains a vessel local path and its specified control requirements, which can be updated by sliding down the waypoint table line by line as the vessel is traveling from one path to the next. A line of sight (LOS) algorithm is developed to calculate the desired vessel position and heading on a circular arc path. The motion controller, which can simultaneously control the vessel speed at the directions of surge and sway, is designed by decomposing the desired inertial resulting velocity into the desired body velocity components. A DP simulator for pipelaying operation is developed, and in order to verify the proposed method, a pipelaying simulation is carried out. The simulation results show that the proposed method enables the vessel to move along the desired path while maintaining a set crab angle, a specified speed, and a turning radius. The pipeline can be laid onto the specified waypoints even when the vessel is subjected to drift forces caused by ocean currents, wind, and waves.

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41

Baudkoobeh, A., and M. Farrokhi. "Waypoint tracking of unmanned aerial vehicles using robust H_{2 / H_{? controller}}." International Journal of Systems, Control and Communications 3, no. 4 (2011): 357. http://dx.doi.org/10.1504/ijscc.2011.043760.

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42

Rout, Raja, and Bidyadhar Subudhi. "NARMAX Self-Tuning Controller for Line-of-Sight-Based Waypoint Tracking for an Autonomous Underwater Vehicle." IEEE Transactions on Control Systems Technology 25, no. 4 (July 2017): 1529–36. http://dx.doi.org/10.1109/tcst.2016.2613969.

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43

Thamann, Michael A., Suzanne Weaver Smith, Sean C. C. Bailey, E. Brady Doepke, and Scott W. Ashcraft. "Modeling and flight testing of wing shaping for roll control of an unmanned aerial vehicle." Journal of Unmanned Vehicle Systems 3, no. 4 (December 1, 2015): 192–204. http://dx.doi.org/10.1139/juvs-2014-0024.

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In this paper, an approach is described to implement autonomous (waypoint tracking) flight in a testbed airframe, which uses wing twist for roll control. These flights were performed using an existing commercial autopilot. Aileron effectiveness was identified as a parameter that could be modified to maintain roll control during autonomous flight. A modeling process was then developed to calculate the aileron effectiveness for a wing shaping demonstrator aircraft utilizing numerically determined aerodynamic properties. Simulations and flight tests with the testbed aircraft were performed that demonstrated suitability of the approach for autonomous flight. In-flight aileron doublets were used to validate the aileron effectiveness predicted by the numerical model, which matched within 7%.

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44

Annamalai, A., A. Motwani, S. K. Sharma, R. Sutton, P. Culverhouse, and C. Yang. "A Robust Navigation Technique for Integration in the Guidance and Control of an Uninhabited Surface Vehicle." Journal of Navigation 68, no. 4 (March 3, 2015): 750–68. http://dx.doi.org/10.1017/s0373463315000065.

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This paper proposes the novel use of a weighted Interval Kalman Filter (wIKF) in a robust navigational approach for integration with the guidance and control systems of an uninhabited surface vehicle named Springer. The waypoint tracking capability of this technique is compared with that of one that uses a conventional Kalman Filter (KF) navigational design, when the model of the sensing equipment used by the filter is incorrect. In this case, the KF fails to predict correctly the vehicle's heading, which consequently impacts negatively on the performance of its integrated navigation, guidance and control (NGC). However, the use of a wIKF technique that is immune to this kind of erroneous modelling endows the integrated NGC system with better accuracy and efficiency in completing a mission.

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45

Tang, Xinhua, Zhonghai Pei, Shiming Yin, Cong Li, Peng Wang, Yu Wang, and Zhiqiang Wu. "Practical design and implementation of an autonomous surface vessel prototype: Navigation and control." International Journal of Advanced Robotic Systems 17, no. 3 (May 1, 2020): 172988142091994. http://dx.doi.org/10.1177/1729881420919949.

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As the development of multidisciplinary techniques and ever-growing demands, autonomous system has been widely investigated in a variety of fields. In recent two decades, autonomous surface vessels have gained increasing attention from both industry and research communities, previous related work mainly focuses on the design of maneuver controllers, most algorithms are under some specific assumptions and always involve too many parameters that need to be tuned, leading to the lack of practical application or validation in real autonomous surface vessel platform. To tackle the issues, an integrated autonomous surface vessel prototype is designed and implemented, both navigation and maneuver control subsystems are improved, especially in terms of autonomous control, a simple geometrical model and constrained pure pursuit algorithm is firstly tried in autonomous surface vessel, the results show that the proposed system can achieve the path tracking with the error smaller than 40 cm, and even given a complicated waypoint mission, it can still maintain the accuracy of path tracking, demonstrating the stability and validity of the autonomous surface vessel prototype.

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46

Noordin, Aminurrashid, Mohd Ariffanan Mohd Basri, and Zaharuddin Mohamed. "Position and Attitude Tracking of MAV Quadrotor Using SMC-Based Adaptive PID Controller." Drones 6, no. 9 (September 19, 2022): 263. http://dx.doi.org/10.3390/drones6090263.

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A micro air vehicle (MAV) is physically lightweight, such that even a slight perturbation could affect its attitude and position tracking. To attain better autonomous flight system performance, MAVs require good control strategies to maintain their attitude stability during translational movement. However, the available control methods nowadays have fixed gain, which is associated with the chattering phenomenon and is not robust enough. To overcome the aforementioned issues, an adaptive proportional integral derivative (PID) control scheme is proposed. An adaptive mechanism based on a second-order sliding mode control is used to tune the parameter gains of the PID controller, and chattering phenomena are reduced by a fuzzy compensator. The Lyapunov stability theorem and gradient descent approach were the basis for the automated tuning. Comparisons between the proposed scheme against SMC-STA and SMC-TanH were also made. MATLAB Simulink simulation results showed the overall favourable performance of the proposed scheme. Finally, the proposed scheme was tested on a model-based platform to prove its effectiveness in a complex real-time embedded system. Orbit and waypoint followers in the platform simulation showed satisfactory performance for the MAV in completing its trajectory with the environment and sensor models as perturbation. Both tests demonstrate the advantages of the proposed scheme, which produces better transient performance and fast convergence towards stability.

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47

Xiong, Wei, Zhao Ying Zhou, and Xiao Yan Liu. "Design of MMFCS for MAV Based on MEMS Sensor." Key Engineering Materials 483 (June 2011): 542–47. http://dx.doi.org/10.4028/www.scientific.net/kem.483.542.

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Micro Measurement and Flight Control System (MMFCS) is important for an autonomous Micro Aerial Vehicle (MAV) to accomplish a flight task. Being in small size, low speed and limited payload capacity, most conventional measurement and control system is no longer practical in Micro Aerial Vehicle (MAV). In this paper presents a study on micro-MMFCS system based on criteria of minimum size and low computational complexity to complete the autonomous fly. Via using MEMS sensors, the developed micro MMFCS is with a size of 65×40×12mm3 and a weight of 22g. A novel linear fusion algorithm with a linear (and simple) Kalman model is presented to get the roll and pitch angle, then, the controller is designed in the lateral and longitudinal control loop for the trajectory tracking. Examples of waypoint-based autonomous fly mission, using the micro-MMFCS system of a MAV with a wingspan of 380 mm, is presented, with the results demonstrate the effectiveness of the proposed system.

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48

Luque-Vega, Luis F., Emmanuel Lopez-Neri, Carlos A. Arellano-Muro, Luis E. González-Jiménez, Jawhar Ghommam, Maarouf Saad, Rocío Carrasco-Navarro, Riemann Ruíz-Cruz, and Héctor A. Guerrero-Osuna. "UAV-Based Smart Educational Mechatronics System Using a MoCap Laboratory and Hardware-in-the-Loop." Sensors 22, no. 15 (July 30, 2022): 5707. http://dx.doi.org/10.3390/s22155707.

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Within Industry 4.0, drones appear as intelligent devices that have brought a new range of innovative applications to the industrial sector. The required knowledge and skills to manage and appropriate these technological devices are not being developed in most universities. This paper presents an unmanned aerial vehicle (UAV)-based smart educational mechatronics system that makes use of a motion capture (MoCap) laboratory and hardware-in-the-loop (HIL) to teach UAV knowledge and skills, within the Educational Mechatronics Conceptual Framework (EMCF). The macro-process learning construction of the EMCF includes concrete, graphic, and abstract levels. The system comprises a DJI Phantom 4, a MoCap laboratory giving the drone location, a Simulink drone model, and an embedded system for performing the HIL simulation. The smart educational mechatronics system strengthens the assimilation of the UAV waypoint navigation concept and the capacity for drone flight since it permits the validation of the physical drone model and testing of the trajectory tracking control. Moreover, it opens up a new range of possibilities in terms of knowledge construction through best practices, activities, and tasks, enriching the university courses.

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49

BIN MOHD ZAIDI, MUHAMMAD HAFIZ AIZUDDIN, and Khairul Nizam Tahar. "Evaluation On Different UAV’s Georeferencing Points to Generate Accurate Orthophoto and Digital Terrain Model." Built Environment Journal 18, no. 2 (July 27, 2021): 67. http://dx.doi.org/10.24191/bej.v18i2.13876.

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UAV or drone application of autonomy ranging can be divided into several levels, from basic hovering and position over trajectory tracking and waypoint navigation to fully autonomous navigation. This study used the DroneDeploy application for an autonomous flight mission. It is the process of taking photographs from an aircraft or other flying objects with a camera mounted on them to produce a three-dimensional (3D) map from the images captured, including a digital terrain model (DTM) and orthophotos. As for this study, the same output will be generated, but different flight parameter applications were used. Therefore, the study determined the optimum number of ground control points (GCPs) and evaluated the accuracy of the final results for each flight design. Acquired data were processed using the Pix4D modeller software due to the user-friendly factor and faster processing rate offered by the software. The results were analysed, and recommendations were made for future study improvement and to avoid similar problems. This study is useful for the mapping industry to achieve high accuracy results. Keywords: Aerial photogrammetry, Flight Parameter, UAV apps, DTM, Orthophotos, GCPs

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50

Al mojamed, Mohammad. "On the Use of LoRaWAN for Mobile Internet of Things: The Impact of Mobility." Applied System Innovation 5, no. 1 (December 24, 2021): 5. http://dx.doi.org/10.3390/asi5010005.

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A long-range wide-area network (LoRaWAN) targets both mobile and static Internet of Things (IoT) applications; it is suited to IoT applications, which require a large coverage area while consuming less power at a low data rate; it provides a solution for transferring data between IoT devices with a minimum cost in terms of power, at the expense of higher latency. LoRaWAN was designed for static low-power long-range networks. However, several IoT solution applications involve the use of mobility. Therefore, this study investigates the usage of LoRaWAN in the field of mobile Internet of Things applications such as bike rentals, fleet monitoring, and wildlife and animal tracking applications. Using the OMNeT++ simulator, two different well-known mobility models are used to investigate the influence of mobility on the performance of mobile LoRaWAN. The results show that intense LoRaWAN networks can operate under a high velocity and varying traffic load. It can be observed that the random waypoint model combination yields a better performance, but at the cost of higher collisions and energy consumption. As a consequence, the results suggest the reconsideration of mobile IoT solutions over LoRaWAN.

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