Topic
Guidance system
About: Guidance system is a research topic. Over the lifetime, 4282 publications have been published within this topic receiving 45964 citations.
Papers published on a yearly basis
Papers
More filters
Dissertation•
01 Jan 2012
TL;DR: Two different approaches for search of a defined area with an arbitrary number of UAVs with camera systems have been developed and implemented through this thesis and it is shown that the implementation with obstacle radar detection is more realistic, and that it improves the computation time.
Abstract: This thesis is a contribution to the Unmanned Aerial Vehicle (UAV) project at the Department of Engineering Cybernetics, which is a project where contributions from master students and Phd students will result in an autonomous aerial vehicle. The unmanned vehicle laboratory has its own UAV, the Odin Recce D6 delta-wing aircraft which is to be considered in the overall project. When the UAV is in the air on a mission, one important thing is to ensure that the UAV detects obstacles, such as mountains, buildings and other aircrafts. No-fly areas should be avoided by the path planner. This thesis considers a guidance system that will set up a path from the initial position to the final destination, and make sure that the generated trajectory is safe. One problem with the design of the optimal path has been that the designed path gives textit{corner cutting} when obstacles from the environment is included in the path-planner. To avoid this problem, which happens because discrete time is considered, two different solutions to avoid this problem have been discussed closer. Implementation of constraints and different cost functions for path planning with collision avoidance using the Mixed Integer Linear Programming (MILP) is one of the purposes of this thesis. The MILP algorithm is developed for the case of planar motion where the UAV has to fly around the obstacle, and can't fly over or under it. The design of the path path planner using MILP is done in two different ways. One where obstacles are known at the beginning of the optimization, and one where obstacles are added as information to the path planner when they are in the range of the UAVs radar. It is shown that the implementation with obstacle radar detection is more realistic, and that it also improves the computation time. As the author knows this method has not been published in articles up to this date. Two different approaches for search of a defined area with an arbitrary number of UAVs with camera systems have been developed and implemented through this thesis. As far as the author of this thesis knows these approaches for search have not been published up to this date. Efficient search and low computational complexity has been important design factors during the development of these approaches. The final systems are simulated in MATLAB for some test-scenarios. Also, reflection and discussion on further improvement on the path planning system are included in the report. This includes further improvement of the guidance system using receding horizon strategies. A literature study on path planning with receding horizon has been done.
17 citations
15 Aug 2011
TL;DR: In this paper, a novel force-cooperative guidance controller design for a walking assistive robot such that it can guide an elderly or handicapped person in an indoor environment is presented.
Abstract: This paper presents a novel force-cooperative guidance controller design for a walking assistive robot such that it can guide an elderly or handicapped person in an indoor environment. The guidance system has been implemented on a walking helper robot (Walbot) to allow the robot to incorporate passive behaviors. A handrail was provided for Walbot to facilitate passive walking assistance using an omni-directional mobile platform. A laser scanner is used for environment detection and obstacle avoidance. A mass/damper model regulates robot velocity with respect to applied external force. In this paper, we propose a method to fuse output from the compliant motion controller and the autonomous navigation controller in order to give the robotic walker a safe and passive walking guidance. Force-cooperative guidance is achieved by giving proper output-fusing weights to each controller such that the walking help robot can follow the motion intent of the user while avoiding obstacles appearing in the environment.
17 citations
TL;DR: In this article, a neural network guidance based on pursuit-evasion games, and performance enhancing methods for it, are considered, and numerical simulations are accompanied for the verification of the neural network approximation, and of the improved interception performance by the proposed methods.
17 citations
TL;DR: Initial results of the proposed system including the accuracy of route travel time forecasts and the soundness of suggested routes were found to be acceptable and the KEC is currently preparing for a full-scale implementation.
Abstract: Over the last two years, the Korean Expressway Corporation (KEC) has developed a location-based dynamic route guidance system. The targets of the new system are the users of mobile-phones, the internet, and PDAs (Personal Digital Assistant), etc. Spatially the system covers 2,804 km of expressway and 484 km of national highway where the travel time collection systems are installed. The developed routing system is in many aspects different from the existing telematics-related services in Korea. It is based on predicted traffic information rather than real-time traffic information, and provides web and location based in-vehicle route guidance system. It utilizes GML (Geographical Markup Language) and GIS (Geographical Information System) in order to create GML DB (Data Base), and follows the standard format of the ISO (International Standard Organization) for GDF (Geographic Data File). Initial results of the proposed system including the accuracy of route travel time forecasts and the soundness of suggested routes were found to be acceptable. After development, the KEC has successfully tested a pilot service of the new system and is currently preparing for a full-scale implementation.
17 citations
TL;DR: The UAV detour system includes a highly reliable laser guidance system to guide the UAVs to a point where they can land, and optical flow magnitude map to avoid obstacles for a safe landing.
Abstract: Unmanned aerial vehicles (UAVs) with high mobility can perform various roles such as delivering goods, collecting information, recording videos and more. However, there are many elements in the city that disturb the flight of the UAVs, such as various obstacles and urban canyons which can cause a multi-path effect of GPS signals, which degrades the accuracy of GPS-based localization. In order to empower the safety of the UAVs flying in urban areas, UAVs should be guided to a safe area even in a GPS-denied or network-disconnected environment. Also, UAVs must be able to avoid obstacles while landing in an urban area. For this purpose, we present the UAV detour system for operating UAV in an urban area. The UAV detour system includes a highly reliable laser guidance system to guide the UAVs to a point where they can land, and optical flow magnitude map to avoid obstacles for a safe landing.
17 citations