A Dynamic Enhanced Robust Cubature Kalman Filter for the State Estimation of an Unmanned Autonomous Helicopter

He, Miaolei; He, Jiping

doi:10.1109/access.2019.2946855

Cited by 6 publications

(3 citation statements)

References 29 publications

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“…Similar wheels cannot adapt outdoors to rugged, soft, and other complex terrains. For all of these scenarios, based on our research experiences on different kinds of robot [53,55,[95][96][97][98][99][100][101][102][103], it is foreseeable that the future trends of UGV platform can be discussed in several aspects:…”

Section: Challengesmentioning

confidence: 99%

State of the art and future trends in obstacle-surmounting unmanned ground vehicle configuration and dynamics

Yue

Zheng

et al. 2023

Robotica

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This article presents a review of the platform configuration and dynamic of obstacle-surmounting unmanned ground vehicles (UGVs). For now, unmanned systems have emerged as a result of the rapid advancement of artificial intelligence and modern manufacturing techniques both domestically and internationally. The research on unmanned systems has been improved a lot. The UGV platform can execute transportation, recurring, and military tasks independently. For the high-level self-control, adaption, and maneuverability abilities, the UGV platform has been applied in the military, industry, and other special fields widely. The UGV platform usually performs tasks in an unstructured environment, so the all-terrain performance becomes a key factor restricting their operating efficiency and reliability. A brief literature review of the UGV platform is carried out in this article.

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Section: Challengesmentioning

confidence: 99%

State of the art and future trends in obstacle-surmounting unmanned ground vehicle configuration and dynamics

Yue

Zheng

et al. 2023

Robotica

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“…A dynamic enhanced robust CKF is proposed to obtain automatic regulation of the enhanced strategy by estimating the uncertainty state of the system. The DERCKF enables efficient and timely system state estimation and avoids the loss of accuracy (He and He, 2019). Moreover, a new robust sliding mode controller is proposed.…”

Section: Related Workmentioning

confidence: 99%

Human-robot skills transfer interface for UAV-based precision pesticide in dynamic environments

Zhou

Chen

et al. 2021

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Purpose Nowadays, the global agricultural system is highly dependent on the widespread use of synthetic pesticides to control diseases, weeds and insects. The unmanned aerial vehicle (UAV) is deployed as a major part of integrated pest management in a precision agriculture system for accurately and cost-effectively distributing pesticides to resist crop diseases and insect pests. Design/methodology/approach With multimodal sensor fusion applying adaptive cubature Kalman filter, the position and velocity are enhanced for the correction and accuracy. A dynamic movement primitive is combined with the Gaussian mixture model to obtain numerous trajectories through the teaching of a demonstration. Further, to enhance the trajectory tracking accuracy under an uncertain environment of the spraying, a novel model reference adaptive sliding mode control approach is proposed for motion control. Findings Experimental studies have been carried out to test the ability of the proposed interface for the pesticides in the crop fields. The effectiveness of the proposed interface has been demonstrated by the experimental results. Originality/value To solve the path planning problem of a complex unstructured environment, a human-robot skills transfer interface is introduced for the UAV that is instructed to follow a trajectory demonstrated by a human teacher.

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“…Applying the model reference adaptive controller, the velocity of the hydraulic cylinder v can track the model reference output v r , which guarantees the tracking performance of angular velocity w θ by minimizing the performance ofĴ during the obstacle surmounting. Moreover, the feedback information is estimated by applying the Kalman filter [31].…”

Section: B Model Reference Adaptive Controlmentioning

confidence: 99%

Motion Kinematics Analysis of a Horse Inspired Terrain-Adaptive Unmanned Vehicle With Four Hydraulic Swing Arms

Zhou

et al. 2020

IEEE Access

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All terrain vehicles (ATV) perform tasks in unstructured environments where the advanced adaptive ability of rigid terrain has become a key factor. In this paper, we propose a novel horse inspired all terrain eight-wheeled vehicle with four swing arms for transportation in the mountain battlefield. The mechanism structure and system configuration of the ATV are designed based on the horse leg kinematics analysis. In order to analyze the obstacle surmounting strategy of the ATV, the kinematics model and the center of gravity of the ATV are represented. A model reference adaptive control method is proposed for the hydraulic attitude control system. Then the model for obstacle surmounting is proposed for dynamics performance and geometric kinematics. Additionally, the simulation is executed in Adams to verify the analysis and strategy. Finally, the experiment is demonstrated for climbing a vertical wall, which is a challenging and typical terrain of the mountain battlefield.

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A Dynamic Enhanced Robust Cubature Kalman Filter for the State Estimation of an Unmanned Autonomous Helicopter

Cited by 6 publications

References 29 publications

State of the art and future trends in obstacle-surmounting unmanned ground vehicle configuration and dynamics

State of the art and future trends in obstacle-surmounting unmanned ground vehicle configuration and dynamics

Human-robot skills transfer interface for UAV-based precision pesticide in dynamic environments

Motion Kinematics Analysis of a Horse Inspired Terrain-Adaptive Unmanned Vehicle With Four Hydraulic Swing Arms

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