微型旋翼无人机的磁操纵研究

磁操纵是微型无人机领域的一种新型控制方式,通过外界磁场的改变控制无人机的稳定。本文设计了一种磁动力控制微型旋翼飞行器,采用方形Helmholtz线圈产生匀强磁场来控制该飞行器的稳定,采用方形Maxwell线圈产生均匀梯度的磁场来控制飞行器的运动。在此基础上设计了框架式的磁场生成系统,该飞行器在框架之中飞行。经过理论计算及仿真,设计的磁场生成系统可以产生满足要求的磁场控制该飞行器使其稳定,进而沿水平方向运动。     

微小型飞行器航向系统设计

从实用的角度出发,给出了微小型飞行器的航向系统(包括航向测量和航向控制)体系结构．设计了地磁航向、捷联航向、GPS航向等3种常用的航向测量手段在微小型系统中的实现方案,分析了其各自的优、缺点,提出了一种实用的、基于数据融合的航向获取方法．在航向测量的基础上,又设计了针对微小型飞行器的航向控制方案,并应用于某小型固定翼飞行器的飞行控制系统中．进行了自主飞行试验,取得了预期的试验效果．     

The Transition Phase of a Gun-Launched Micro Air Vehicle

The present paper addresses the transition stage of a Gun-Launched Micro Air Vehicle (GLMAV) whose main goal is to rapidly position a rotorcraft MAV over a high-risk scene (Prison riots, blind zones: e.g. over-the-hill, etc.). The development of this robotic platform is part of an overall ongoing project (GLMAV) headed by the St. Louis French-German Research Institute (ISL). The vehicle is launched at a distance of 500 m and a height of 100 m, where the GLMAV will collect and transmit visual information from the scene. Issues raising from the use of the gun-based launching technique are discussed in detail. A control strategy is proposed to overcome such problems and to stabilize the GLMAV. High-fidelity simulations, covering ballistic and transition phases, validate the control policy adopted to face the MAV gun-launching problem.     

微型飞行器测控系统中的信号处理

微型飞行器控制系统中的信号主要分为电压信号、数据和通信信号。完成对信号的采集和处理是设计微型飞行器测控系统电路的最基本条件，由于微型飞行器在系统体积和重量上的特殊要求，使得常规设计方法在微型飞机器上的实现存在一定的困难。为此，一般采用单片机作为CPU，围绕单片机控制算法数据的获得，可以得出一种有效的信号采集和处理方法，并可为以后设计微型飞行器的测控系统所参考。     

Design and Analysis of a Gyroscopically Controlled Micro Air Vehicle

Micro air vehicles have emerged as a popular option for diverse robotic and teleoperated applications in both open terrain and urban environments because of their inherent stealth and portability. To perform many of the tasks envisioned for micro air vehicles, agility is essential. To date, research efforts to improve agility have focused primarily on constructing complex controllers to enable existing vertical-take-off- and-landing vehicles, such as remote-controlled helicopters and quadrotors, to perform aerobatic maneuvers autonomously. In this work, we adopt a system-level perspective and analyze a new design for a rotary-wing micro air vehicle that utilizes gyroscopic dynamics for attitude control. Unlike traditional vehicles where attitude control moments are generated by aerodynamic control surfaces, the proposed vehicle will leverage the existing angular momentum of its counter rotating components. This paradigm has the potential to yield significant increases in agility when compared to state-of-the-art micro vertical take-off and landing vehicles. The proposed design reduces mechanical complexity by precluding the use of complex mechanisms, such as the swashplate. The capacity to rapidly generate large gyroscopic control moments, coupled with the precision gained from eliminating the need for complex and restrictive aerodynamic models, improves both agility and adaptability. We present the development of a gyroscopically controlled micro air vehicle including comprehensive models of the dynamics and the aerodynamics with an emphasis on the design and analysis of such systems. A dynamics simulator that incorporates these models and mechanical hardware solutions to challenges that arose during prototyping will also be presented.     

自主车的运动仿真

在自主车的运动路径规划中,局部路径规划特别重要,而且是自主车的一项关键技术。该文提出了将自主式多智能体的任务和反应性行为模型嵌入到离散事件系统框架中作局部路径规划的方法,此方法克服了势场法（包括早期的虚力场法）的缺陷,为确保自主车运动路径规划的可靠性和合理性,该文就局部路径规划对自主车作运动仿真。     

基于IPMC 驱动的自主微型机器鱼

本文从微小型鱼类的运动和受力分析入手,基于人工肌肉IPMC（离子聚合物金属复合材料）的特性, 进行微型机器鱼的结构和控制系统的设计．在此基础上实现仿小型鱼类的各种运动模式,然后,讨论了IPMC 驱动 器推进效率的优化．实验结果证明,基于IPMC 的厘米级机器鱼是可行的：通过改变控制信号的频率和占空比,实 现微型机器鱼的速度控制;通过控制胸鳍和尾鳍,实现上浮、下潜、转弯、巡游等运动模式．最后从尾鳍推进器的结 构角度分析了如何提高推进效率．     

Autonomous Navigation of an Unmanned Air Vehicle Towards a Moving Ship

This paper deals with the problem of autonomous navigation of an unmanned air vehicle towards a moving ship. The ship is moving in the horizontal plane; however, its motion is not a priori known to the air vehicle. The control laws for the flight path angle and the heading angle of the air vehicle are based on the relative kinematics equations between the vehicle and the moving ship. The goal of the control law is to drive the vertical line of sight angle to zero, while the horizontal line of sight angle tracks the heading angle of the ship. This results in a decreasing range in both the horizontal and vertical planes. The kinematics equations under the control law are derived and our results are rigorously proven. Simulation of various scenarios is carried out.     

An Improved Evolvable Oscillator and Basis Function Set for Control of an Insect-Scale Flapping-Wing Micro Air Vehicle

This paper introduces an improved evolvable and adaptive hardware oscillator design capable of supporting adaptation intended to restore control precision in damaged or imperfectly manufactured insect-scale flapping-wing micro air vehicles. It will also present preliminary experimental results demonstrating that previously used basis function sets may have been too large and that significantly improved learning times may be achieved by judiciously culling the oscillator search space. The paper will conclude with a discussion of the application of this adaptive, evolvable oscillator to full vehicle control as well as the consideration of longer term goals and requirements.     

滑翔式水下航行器的运动建模与分析

滑翔式水下航行器是一种基于滑翔原理的无外挂推进系统、仅依靠内置执行机构调整重心位置和净浮力来控制其自身运动状态的新型水下自治机器人。它在净浮力的作用下,利用水平翼在有攻角情况下产生的前进动力,在设定的深度范围内进行锯齿形前进。对滑翔式水下航行器进行运动机理分析,建立滑翔式水下航行器运动数学模型,并对滑翔式水下航行器定常运动状态下的运动参数与可控变量的关系进行仿真,利用MATLAB/SIMULINK建立滑翔式水下航行器模型对其运动进行仿真。     

On-board communication-based relative localization for collision avoidance in Micro Air Vehicle teams

To avoid collisions, Micro Air Vehicles (MAVs) flying in teams require estimates of their relative locations, preferably with minimal mass and processing burden. We present a relative localization method where MAVs need only to communicate with each other using their wireless transceiver. The MAVs exchange on-board states (velocity, height, orientation) while the signal strength indicates range. Fusing these quantities provides a relative location estimate. We used this for collision avoidance in tight areas, testing with up to three AR.Drones in a \(4\,\mathrm{m}~\mathbf {\times }~4\,\mathrm{m}\) area and with two miniature drones (\(\approx 50\,\mathrm{g}\)) in a \(2~\mathrm{m}~\mathbf {\times }~2~\mathrm{m}\) area. The MAVs could localize each other and fly several minutes without collisions. In our implementation, MAVs communicated using Bluetooth antennas. The results were robust to the high noise and disturbances in signal strength. They could improve further by using transceivers with more accurate signal strength readings.     

集成于微型飞行器机翼上的流场传感器测量系统研究

阐述了热式流场传感器测量微型飞行器(MAVs)飞行参数的基本原理,介绍了流场传感器阵列在翼表流场测量中的应用.选用薄膜热敏电阻作为流场传感器敏感元件,采用恒温工作方式实现传感系统的测量.通过小型风洞试验,对传感器阵列进行了测试,并运用最小二乘法进行模型辨识.实验结果表明,所采用的流场传感器阵列可实现对风速测量,测量范围为2m/s～12m/s,测量精度为1m/s;对迎角的测量范围为0°～20°,测量精度为1°;对侧滑角的测量范围为-16°～18°,测量精度为1°.基本满足微型飞行器翼表流场的使用需要.     

Subsonic Tests of a Flush Air Data Sensing System Applied to a Fixed-Wing Micro Air Vehicle

Flush air data sensing (FADS) systems have been successfully tested on the nose tip of large manned/unmanned air vehicles. In this paper we investigate the application of a FADS system on the wing leading edge of a micro (unmanned) air vehicle (MAV) flown at speed as low as Mach 0.07. The motivation behind this project is driven by the need to find alternative solutions to air data booms which are physically impractical for MAVs. Overall an 80% and 97% decrease in instrumentation weight and cost respectively were achieved. Air data modelling is implemented via a radial basis function (RBF) neural network (NN) trained with the extended minimum resource allocating network (EMRAN) algorithm. Wind tunnel data were used to train and test the NN, where estimation accuracies of 0.51°, 0.44 lb/ft² and 0.62 m/s were achieved for angle of attack, static pressure and wind speed respectively. Sensor faults were investigated and it was found that the use of an autoassociative NN to reproduce input data improved the NN robustness to single and multiple sensor faults. Additionally a simple NN domain of validity test demonstrated how the careful selection of the NN training data set is crucial for accurate estimations.     

一种面向无人驾驶汽车的高效交通标志识别方法

为解决智能交通系统中交通标志识别的实时性差和准确率低等缺陷,本文提出一套高效准确的交通标志识别方法.通过实验选择合适的待检测区域,对该区域图像进行预处理以适应不同环境,并分离出红、黄、蓝、黑四通道图像;提取各通道图像外层轮廓并进行筛选,对合格轮廓进行凸壳处理及再次筛选;根据凸壳轮廓的Hu不变矩、周长和面积等特征选择出圆形和方形轮廓,在高分辨率原图中选择轮廓内图像作为待识别区域;利用水平和垂直方向直方图特征,对每个所选区域进行横纵向直方图放缩匹配(HSTM),选择最优匹配作为最终识别结果.本系统主要应用于"中国智能车未来挑战赛"无人驾驶汽车平台,在实际测试中识别率达95%,识别速率达8 Hz~10 Hz.且在实际比赛过程中准确识别出指定交通标志,在实时性及准确率上相对现有方法有一定优势.     

Towards Autonomous Micro UAV Swarms

Micro Unmanned Aerial Vehicles (UAVs) such as quadrocopters have gained great popularity over the last years, both as a research platform and in various application fields. However, some complex application scenarios call for the formation of swarms consisting of multiple drones. In this paper a platform for the creation of such swarms is presented. It is based on commercially available quadrocopters enhanced with on-board processing and communication units enabling full autonomy of individual drones. Furthermore, a generic ground control station is presented that serves as integration platform. It allows the seamless coordination of different kinds of sensor platforms.     

Towards Autonomous Indoor Micro VTOL

Recent progress in sensor technology, data processing and integrated actuators has made the development of miniature flying robots fully possible. Micro VTOL¹ systems represent a useful class of flying robots because of their strong capabilities for small-area monitoring, building exploration and intervention in hostile environments. In this paper, we emphasize the importance of the VTOL vehicle as a candidate for the high-mobility system emergence. In addition, we describe the approach that our lab² has taken to micro VTOL evolving towards autonomy and present the mechanical design, dynamic modelling, sensing, and control of our indoor VTOL autonomous robot OS4.³Samir Bouabdallah is research assistant and Ph.D. student at the Autonomous Systems Lab (ASL) at the Swiss Federal Institute of Technology, Lausanne, (EPFL). He got his Masters in Electrical Engineer from Abu Bakr Belkaid University (ABBU) Tlemcen, Algeria in 2001. His master thesis was the development of an autonomous mobile robot for academic research. His current research interests are control systems and design optimization of VTOL flying robots.Pierpaolo Murrieri is a Ph.D. student at the Centro Interdipartimentale E. Piaggio and Dipartimento Sistemi Elettrici ed Automazione (DSEA) at the University of Pisa. He got his Master in Electrical Engineer from University of Pisa in 2000. His master thesis was about the registration of biomedical images. His current research interests are mobile robotics, nonlinear control and artificial vision.Roland Siegwart is director of the Autonomous Systems Lab (ASL) at the Swiss Federal Institute of Technology Lausanne (EPFL). He received his Masters in Mechanical Engineering in 1983 and his Ph.D. in 1989 at the Swiss Federal Institute of Technology Zurich (ETH). In 1989/90 he spent one year as postdoc at Stanford University. From 1991 to 1996 he worked part time as R&D director at MECOS Traxler AG and as a lecturer and deputy head at the Institute of Robotics, ETH. In 1996 he joined EPFL as full professor where he is working in robotics and mechatronics, namely mobile robot navigation, space robotics, human-robot interaction, all terrain locomotion and micro-robotics. Roland Siegwart is member of various scientific committees and cofounder of several spin-off companies.     

基于神经网络的自动驾驶模型及其虚拟实现

文章提出了一种基于人工神经网络的自动驾驶控制模型,并利用计算机虚拟技术模拟实现车辆的运行环境及其运行行为,并对自动驾驶控制模型进行了测试。试验表明这种自动驾驶模型能有效地指挥车辆的驾驶。     

带有内部转子的自主水下航行器的跟踪控制

研究了水平面内自主水下航行器(AUV)的轨迹跟踪控制问题。AUV由主推进器和一个内部转子驱动,可视为欠驱动系统。建立了带有外界扰动及模型不确定性的系统数学模型。为了对侧向运动和偏航运动进行解耦,采用了一种坐标转换。基于Lyapunov直接法,针对转换后的模型设计了一种跟踪控制律以使得位置跟踪误差收敛于零点左右的一个球域内。考虑到电机控制系统中的干扰和误差,对转子电机进行了控制设计以实现系统跟踪误差的全局镇定。仿真结果表明控制律对建模误差具有一定的鲁棒性。     

自主车技术

本文简要介绍了自主车研究工作的进展,详细介绍了自主车研究中的四个关键技术,即传感技术,路径规划、制导技术和运动控制,并对自主车技术的发展作了展望.     

变结构优化控制在MAV姿态控制中的研究

研究微型飞行器姿态控制问题.由于微型飞行器（MAV）体积小,重量轻,使其容易受到外界干扰的影响,而且飞行器还具有非线性、变系数、纯延迟、惯性、交叉耦合等特点,更加大了对其进行姿态控制的难度.该文采用一种改进的遗传算法,与传统最优化方法相结合,快速地以较大的概率收敛到全局最优解,以此寻求优化控制.同时,利用变结构控制方法的滑动模态对系统干扰和系统摄动具有完全的自适应的特点又使外部干扰的影响减到最小.通过计算机仿真,表明该方法具有优良的控制品质和鲁棒性.