Simulation of Flight Control of Two UAVs Based on the “Master-Slave” Model

Pyvovar, Mariia; Pohudina, Olha; Pohudin, Andrii; Kritskaya, Olha

doi:10.1007/978-3-030-94259-5_70

Cited by 4 publications

(2 citation statements)

References 7 publications

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“…In this study, the HRC environment was modeled and implemented using the CoppeliaSimEdu software package [ 49 ]. CoppeliaSim is a robotic environment simulator with an integrated development environment.…”

Section: Methodsmentioning

confidence: 99%

Towards a Safe Human–Robot Collaboration Using Information on Human Worker Activity

Orsag

Stipančić

Koren

2023

Sensors

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Most industrial workplaces involving robots and other apparatus operate behind the fences to remove defects, hazards, or casualties. Recent advancements in machine learning can enable robots to co-operate with human co-workers while retaining safety, flexibility, and robustness. This article focuses on the computation model, which provides a collaborative environment through intuitive and adaptive human–robot interaction (HRI). In essence, one layer of the model can be expressed as a set of useful information utilized by an intelligent agent. Within this construction, a vision-sensing modality can be broken down into multiple layers. The authors propose a human-skeleton-based trainable model for the recognition of spatiotemporal human worker activity using LSTM networks, which can achieve a training accuracy of 91.365%, based on the InHARD dataset. Together with the training results, results related to aspects of the simulation environment and future improvements of the system are discussed. By combining human worker upper body positions with actions, the perceptual potential of the system is increased, and human–robot collaboration becomes context-aware. Based on the acquired information, the intelligent agent gains the ability to adapt its behavior according to its dynamic and stochastic surroundings.

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Section: Methodsmentioning

confidence: 99%

Towards a Safe Human–Robot Collaboration Using Information on Human Worker Activity

Orsag

Stipančić

Koren

2023

Sensors

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“…Більшість задач узгодженого руху мультикоптерів у складі групи, по своїй суті, можуть бути зведені до часткової та найбільш поширеної задачі: слідування кожного окремого мультикоптера веденого за іншим -лідером або ведучим. Розгляд задачі керування у такій постановці можна вважати достатньо поширеним [4,5,6].…”

Section: вступunclassified

Algorithm for controlling the movement of a multicopter as part of a group based on signals from the technical vision system

Bobkov,

Pishchela

2023

MGS

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The paper analyzes the control of a group of multicopters during autonomous flight along an arbitrary trajectory determined by the leader. Under such a situation, the most acceptable option is the leader- follower model. Determining the relative location of the leader and the follower, as well as determining the parameters for controlling the movement of the follower, is proposed to be carried out using a technical vision system. For this, the leader is marked with a special label. A general flight control algorithm has been developed, which includes all its main stages from pre-flight preparation to landing. Controlling the movement of the follower is carried out by adjusting the angles of yaw, roll, pitch and changing the movement speed depending on the distance to the leader. The paper proposes formulas and algorithm for determining these parameters according to the system of technical vision and inertial navigation system of the follower. To test the proposed algorithms, a model was created in the Simulink software environment of the Matlab system. Experimental studies using a camera with a resolution of 1280x720 confirmed the correctness of the obtained ratios and algorithms. The maximum values of the error of full scale in determining the change in parameters for the distance, pitch and roll angles did not exceed 4%, and for the yaw angle - 6.1%. Increasing the accuracy of parameter determination is possible due to the use of a camera with a higher resolution.

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