A survey of guidance, navigation, and control systems for autonomous multi-rotor small unmanned aerial systems

Marshall, Julius A.; Sun, Wei; L’Afflitto, Andrea

doi:10.1016/j.arcontrol.2021.10.013

Cited by 36 publications

(10 citation statements)

References 168 publications

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“…RRT method is the fastest method, while probabilistic roadmap method is cost efficient. 118 Voronoi diagram is also a type of roadmaps. Heuristic search techniques, local search techniques, brute force search techniques, and artificial neural networks enable AI-based path planning.…”

Section: Fifth Generation Cellular Networkmentioning

confidence: 99%

Unmanned aerial vehicles: Applications, techniques, and challenges as aerial base stations

Rolly

Malarvezhi

Λάγκας

2022

International Journal of Distributed Sensor Networks

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Next generation wireless networks are expected to be greatly supported by unmanned aerial vehicles, which can act as aerial base stations and constitute a promising solution for the exorbitant rise in user demands. This is possible because of unmanned aerial vehicle characteristics such as mobility, flexibility, increased line-of-sight probability, and their ability to access unreachable locations. Extensive research is now widely performed on the deployment, performance analysis, resource management, trajectory optimization, and channel modeling in such networks. This survey article focuses on the different applications and the related algorithms for realizing aerial base stations by thoroughly reviewing each related research area. In a nutshell, this article provides key applications, challenges, and the technology used for the design and analysis of unmanned aerial vehicles as base stations.

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Section: Fifth Generation Cellular Networkmentioning

confidence: 99%

Unmanned aerial vehicles: Applications, techniques, and challenges as aerial base stations

Rolly

Malarvezhi

Λάγκας

2022

International Journal of Distributed Sensor Networks

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“…In different operating environments, multi-rotor unmanned aerial vehicle (UAVs) perform different tasks, such as pesticide spraying [1], precision strikes [2], and material delivery [3], which will inevitably cause changes in the UAV load, so the operating conditions of multi-rotor UAVs cannot always be consistent. When the operating conditions change, the parameters such as the mass and rotational inertia of the UAV itself will be changed, which will lead to changes in the distribution * Author to whom any correspondence should be addressed.…”

Section: Introductionmentioning

confidence: 99%

Fault diagnosis method of multi-rotor UAV based on one-dimensional convolutional neural network with adaptive batch normalization algorithm

Yang,

Li,

Wen

et al. 2023

Meas. Sci. Technol.

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In this paper, we propose a one-dimensional convolutional neural network(1D-CNN) model based on the adaptive batch normalization (AdaBN) algorithm to improve the CNN model, which is difficult to extract features from multi-rotor unmanned aerial vehicle (UAV) rotor structural faults under variable conditions and has poor fault diagnosis performance. The method accomplishes fault diagnosis and classification by feature extraction from lower dimensional multi-rotor UAV data. The AdaBN algorithm adjusts the parameters of the BN layer in the model during the testing phase to improve the domain adaptive capability of the model in scenarios with variable operating conditions. Also, to improve the robustness of the model under noisy conditions, the first layer of convolutional kernel dropout operation is introduced to improve the noise immunity of the model. To reduce the complexity of manual tuning and to find the optimal combination of hyperparameters for the network model more effectively, the grey wolf optimizer algorithm is used to optimize the hyperparameters and further improve the model performance. Finally, the effectiveness of the proposed method is verified through comparison tests, and it shows good diagnostic effects in noise and variable conditions compared with several commonly used fault diagnosis methods.

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“…In this paper, special attention is given to the quadcopter controller design that ensures robust stability with minimal utilization of resources to follow the desired trajectory. It has been a critical challenge to design the quadcopter flight control system 1,2 in real-time applications because of the model uncertainties and aerodynamic effects. For trajectory tracking of quadcopters, several control schemes in the continuous-time framework are presented.…”

Section: Introductionmentioning

confidence: 99%

Experimental evaluation of event-triggered sliding mode control for trajectory tracking of a quadcopter

Raju

Ezhilarasi

Ayyagari

2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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This paper presents an experimental assessment of event-triggered sliding mode control (ET-SMC) on a Quadcopter for trajectory tracking. Sufficient triggering conditions using Lyapunov analysis and a lower bound of inter-event time to avoid Zeno behaviour are derived to ensure robust stability. Real-time flights are performed for tracking constant and time-varying trajectories. Results reveal that while using the proposed controller, there is a significant reduction in the number of updates implying a substantial saving in the computations.

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A survey of guidance, navigation, and control systems for autonomous multi-rotor small unmanned aerial systems

Cited by 36 publications

References 168 publications

Unmanned aerial vehicles: Applications, techniques, and challenges as aerial base stations

Unmanned aerial vehicles: Applications, techniques, and challenges as aerial base stations

Fault diagnosis method of multi-rotor UAV based on one-dimensional convolutional neural network with adaptive batch normalization algorithm

Experimental evaluation of event-triggered sliding mode control for trajectory tracking of a quadcopter

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