Intelligent autonomous navigation system for UAV in randomly changing environmental conditions

Zhilenkov, Anton; Chernyi, Sergei; Sokolov, Sergei; Nyrkov, Anatoliy

doi:10.3233/jifs-179741

Cited by 24 publications

(7 citation statements)

References 2 publications

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“…The diagnostic parameters are differentiated by the level of information content. The ways of using information content when choosing the minimum set of diagnostic indicators that provide a given accuracy and reliability of diagnosis are shown [15,16].…”

Section: Discussionmentioning

confidence: 99%

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Wavelet Transforms of Diagnosable Signals from Ship Power Complexes in a MATLAB Environment

Sakharov

Chernyi

Saburov

et al. 2020

Designs

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The use of digital technologies in the systems of diagnostics and monitoring of units of a ship’s propulsion plant can significantly increase the efficiency and quality of assessing the technical condition of operated objects in the online mode as well as expand the class of practical problems to be solved. Digital processing of signals of complex configuration at a qualitatively new level is an indispensable condition for a critical improvement in the course of processing the current values of diagnosable parameters, increasing the reliability and trouble-free performance of a ship’s technical equipment during operation. A method of approximation has been discussed in the paper. Moreover, the paper provides an algorithm for analyzing the signal of the indicator diagram of a marine diesel engine, the spectrum of which contains high-frequency components and short-term pulses indicating deviations from the normal operating mode, the assessment of which is practically impossible with the traditionally applied methods of spectral analysis of signals. The approximation method is based on the use of wavelet analysis, which makes it possible to deeply explore such modes. Examples of using wavelet analysis to approximate one-dimensional signals of elements and systems of a ship’s power complexes are given.

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Section: Discussionmentioning

confidence: 99%

“…As a result, the pressure vector P of dimension (1 × 721). In our experiment, we will use the popular pressure sensor (OWEN PD100-DI sensors models 111, 171, 181) [12][13][14][15]. The characteristics of the pressure sensor used to obtain experimental data, such as resolution and sampling rate, are presented in the program listing and Figures 3 and 4.…”

mentioning

confidence: 99%

Wavelet Transforms of Diagnosable Signals from Ship Power Complexes in a MATLAB Environment

Sakharov

Chernyi

Saburov

et al. 2020

Designs

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“…Various technical solutions can be used to measure the movement parameters of unmanned, selfpiloted, and autonomous vessels, based on the navigation signals from global satellite navigation systems (GSNS) [3], hydroacoustic depth and speed measurements, and inertial navigation systems [4][5][6]. As a rule, these technical solutions are included in the navigation systems of unmanned and autonomous vessels due to their unique properties [7][8][9]. We must note that the combined use of a set of technical solutions within the navigation system of an unmanned or an autonomous vessel helps mitigate the drawbacks of specific solutions used independently.…”

Section: Introductionmentioning

confidence: 99%

Structure and the Basic Operating Principles of Test Water Zone for the Testing of Unmanned and Self-Piloted Vessels

Ol'khovik

Буцанец

2022

IOP Conf. Ser.: Earth Environ. Sci.

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Standard procedures for the assessment of vessel maneuverability cannot be used to the full extent for unmanned, self-piloted, and autonomous vessels. This is due to the fact that during field tests of these vessel types, the maneuvers resulting from control commands from the operator or the autonomous control system are hard to record. Therefore, these tests require modern technical solutions that would provide the proper accuracy of control parameter measurement. Field tests of unmanned, self-piloted, and autonomous vessels conducted using modern technical solutions for navigation should include the independent measurement of movements of the vessel’s bow and stern. The goal of this article is to develop a structure of a test water zone for safe field testing of unmanned, self-piloted, and autonomous vessels or robotized surface objects.

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“…There are numerous applications and fields where an Unmanned Aerial Vehicle (UAV) could be used. In the past decade, many researchers have focused their goals toward the solution or study of different application problems with specific criteria, such as navigation, obstacle avoidance, artificial vision, load carrying, among similar, [1], [2], [3].…”

Section: Introductionmentioning

confidence: 99%

Obstacle-aware UAV navigation based on a leader-follower consensus protocol

Rojo-Rodriguez

Ollervides-Vazquez

et al. 2022

2022 International Conference on Unmanned Aircraft Systems (ICUAS)

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This work aims to present a navigation scheme whose topmost layer further considers the presence of obstacles and steers the aircraft towards a safe path by altering its navigation references. The complete framework is divided into two control layers carrying out the orientation and navigation, while a third obstacle-aware layer, which is based on a Virtual Leader-Follower coordination problem, generates the positioning references for the navigation controller. This outline allows designing the inner control layers independently, without obstacle awareness, giving flexibility to different combinations of UAVs and controller laws. To validate the proposed structure, numerical simulations are performed where moving obstacles are considered. In addition, experimental testing is carried out by implementing the three-layer navigation in a quadrotor aircraft, performing an independent trajectory while in the presence of a static obstacle. Both tests show acceptable results, and the obstacle collision avoidance is reached.

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Intelligent autonomous navigation system for UAV in randomly changing environmental conditions

Cited by 24 publications

References 2 publications

Wavelet Transforms of Diagnosable Signals from Ship Power Complexes in a MATLAB Environment

Wavelet Transforms of Diagnosable Signals from Ship Power Complexes in a MATLAB Environment

Structure and the Basic Operating Principles of Test Water Zone for the Testing of Unmanned and Self-Piloted Vessels

Obstacle-aware UAV navigation based on a leader-follower consensus protocol

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