In this paper, an advanced vehicle way-point tracking control method, including kinematic control, dynamic control and an obstacle avoidance strategy, is introduced. In the kinematic part, a vehicle kinematic model is established, along with the coor...
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 waypo...
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...
A robust controller for the waypoint tracking of a quadrotor unmanned aerial vehicle (UAV) is proposed in this paper, in which position control and attitude control are effectively decoupled. Model predictive control (MPC) is employed in the position...
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 follow...
For autonomous legged robots to be deployed in practical scenarios, they need to perform perception, motion planning, and locomotion control. Since robots have limited computing capabilities, it is important to realize locomotion control with simple...
In this paper, we present a complete and efficient solution of guidance, navigation and control for a quadrotor platform to accomplish 3D coverage flight missions in mapped vineyard terrains. Firstly, an occupancy grid map of the terrain is used to g...
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...
This paper presents the design and implementation of a novel autonomous underwater robot with fully vectored propulsion based on model predictive control (MPC) to rapidly respond to the position and attitude required for autonomous operation. Specifi...
This work is devoted to the second order rational Bézier curve coefficients estimation. We present the methodology of unique coefficients for each type of ship computation. In the presented formulas of ship’s length, a draft and angular...
17 September 2024
The development of autonomous agricultural robots using a global navigation satellite system aided by real-time kinematics and an inertial measurement unit for position and orientation determination must address the accuracy, reliability, and cost of...
This paper deals with the control of lighter-than-air vehicles, more specifically the design of an integrated guidance, navigation and control (GNC) scheme that is capable of navigating an airship through a series of constant-altitude, planar waypoin...
This paper describes flight planning supported by modeling, guidance, and feedback control for an electric Vertical Take-Off and Landing (eVTOL) QuadPlane small Uncrewed Aircraft System (sUAS). Five Lift+Cruise sUAS waypoint types are defined and use...
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 s...
In this paper, a novel and complete navigation system is proposed for mobile robots in a park environment, which can achieve safe and stable navigation as well as robust dynamic obstacle avoidance. The navigation system includes a global planning lay...
Compact heavy-duty skid-steer robots are increasingly used for city logistics and intralogistics tasks where high payload capacity and stability are required. However, their limited maneuverability and non-negligible turning radius challenge conventi...
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 t...
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 tracki...
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 T...
The work presented in this paper focuses on the design of a robust nonlinear flight control system for a small fixed-wing UAV against uncertainties and external disturbances. Toward this objective, an integrated UAV waypoints guidance scheme based on...
In this study, the distributed consensus control and model predictive control (MPC)-based formation strategies for quadrotors are proposed. First, the formation-control problem is decoupled into horizontal and vertical motions. The distributed consen...
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...
Due to Japan’s recent nuclear crisis and petroleum price hikes, the search for renewable energy sources has become an issue of immediate concern. A promising candidate attracting much global attention is solar energy, as it is green and also inexhaus...
This paper proposes a new kind of airship actuator configuration for surveillance and environmental monitoring missions. We present the design and application of a six-propeller electrical airship (Noamini) with independent tilting propellers, allowi...
For an unmanned aerial vehicle (UAV) of an aircraft type, the problems of planning achievable trajectories as well as robust control under wind disturbances are considered. A computationally simple method for compiling a primary non-smooth 4D traject...
Formation flying of multiple unmanned aerial vehicles (UAVs) has attracted much attention for its versatility in cooperative tasks. In this paper, a distributed formation planning method is proposed for UAVs. First, we design a path searching algorit...
This study examines the application of low-cost 1D LiDAR sensors in drone-based stockpile volume estimation, with a focus on indoor environments. Three approaches were experimentally investigated: (i) a multi-drone system equipped with static, downwa...
This paper presents a semi-analytical trajectory planning method for quadrotor UAVs. These trajectories are analytically defined, are constant in speed and sub-optimal with respect to a weighted quadratic cost function of the translational and angula...
Smart agriculture development mainly depends on the intelligence and reliability of autonomous agricultural machinery. Automatic navigation systems (ANSs) play a key role in intelligent agricultural machinery design, as they not only reduce farmers&r...
Path-tracking control algorithms in agriculture typically focus on how to improve the trajectory-tracking performance of autonomous agricultural machinery, and the agricultural productivity is optimized in a two-layer way. The upper operational layer...
As the extension of traditional linear (or X) inverted pendulum (IP), X-Z IP is a multiple-input multiple-output (MIMO), underactuated, open-loop unstable, and nonlinear system. In the tracking control of the X-Z IP, the equilibrium point changes wit...
Autonomous underwater vehicles (AUVs) tasked with seafloor coverage require a robust integration of path planning and control strategies to operate in adverse real-world environments including obstacles, disturbances, and physical constraints. In thi...
Control delay phenomena, such as time delays and actuator lags, can compromise the control performance of autonomous mobility systems, leading to increased control errors. Therefore, it is essential to develop a control delay compensation algorithm....
In this paper, a hybrid optimization controller that combines a genetic algorithm (GA) and ant colony optimization (ACO) called GA-ACO algorithm is proposed. It is applied to a photovoltaic module array (PVMA) to carry out maximum power point trackin...
The tracking problem (that is, how to follow a previously memorized path) is one of the most important problems in mobile robots. Several methods can be formulated depending on the way the robot state is related to the path. “Trajectory trackin...
The problem of safe navigation of a human-multi-robot system is addressed in this paper. More precisely, we propose a novel distributed algorithm to control a swarm of unmanned ground robots interacting with human operators in presence of obstacles....
This article discusses the redesign of a towing mobile robot to obtain a modern system for implementing mobile robot control research. Controller architecture issues are presented, and a selected control algorithm is considered in detail. The reconst...
Heating, ventilation and air-conditioning (HVAC) units in buildings form a system-of-subsystems entity that must be accurately integrated and controlled by the building automation system to ensure the occupants’ comfort with reduced energy cons...
In this paper, a robust tracking control problem for underactuated underwater vehicles in horizontal motion is investigated. The presented control scheme that performs the trajectory tracking task is a combination of the backstepping technique and th...
Photovoltaic (PV) modules require maximum power point tracking (MPPT) algorithms to ensure that the amount of power extracted is maximized. In this paper, we propose a low-complexity MPPT algorithm that is based on the neural network (NN) model of th...
This paper focuses on modelling, control, realisation and performance analysis of a full-scale demonstrator for a novel railway track switch. For over a century, railway track switches (or points) have been allowing trains to safely change between ro...
The integration of photovoltaic (PV) systems into global energy production is rapidly expanding. However, achieving maximum power extraction remains a significant challenge due to the nonlinear electrical characteristics of PV modules, which are high...
Ground control points (GCPs) are critical for agricultural remote sensing that require georeferencing and calibration of images collected from an unmanned aerial vehicles (UAV) at different times. However, the conventional stationary GCPs are time-co...
This paper focuses predominantly on the multi-tasks carried out by the cooperative unmanned surface vehicle-unmanned aerial vehicle (USV-UAV) system in which the input quantization is considered. The proposed cooperative scheme consists of the asynch...
In this article, we present an approach to fabricate conductive tracks on polymer substrates. Here, a digital printing process is used together with subsequent processing by a laser. For this purpose, a silver flake-based composite is printed onto a...
The underwater environment introduces many limitations that must be faced when designing an autonomous underwater vehicle (AUV). One of the most important issues is developing an effective vehicle movement control and mission planning system. This ar...
The use of photovoltaic systems for clean electrical energy has increased. However, due to their low efficiency, researchers have looked for ways to increase their effectiveness and improve their efficiency. The Maximum Power Point Tracking (MPPT) in...
This paper presents new theorems, which allow to design in a unified way robust proportional-derivative (PD)-type control laws without chattering for a broad class of uncertain nonlinear multi-input multi-output (MIMO) systems, subject to bounded dis...
To solve the lateral-directional control problem of the high aspect ratio full-wing unmanned aerial vehicle (UAV) without an aileron and rudder, a control method is proposed that uses the differential thrust of propellers as the control output and th...
In the recent past, the solar photovoltaic (PV) system has emerged as the most promising source of alternative energy. This solar PV system suffers from an unavoidable phenomenon due to the fluctuating environmental conditions. It has nonlinearity in...
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