Real-Time Indoor Path Planning Using Object Detection for Autonomous Flying Robots

Unknown closed spaces are a big challenge for the navigation of robots since there are no global and pre-defined positioning options in the area.One of the simplest and most efficient algorithms,the artificial potential field algorithm(APF),may provide real-time navigation in those places but fall into local mini-mum in some cases.To overcome this problem and to present alternative escape routes for a robot,possible crossing points in buildings may be detected by using object detection and included in the path planning algorithm.This study utilized a proposed sensor fusion method and an improved object classification method for detecting windows,doors,and stairs in buildings and these objects were classified as valid or invalid for the path planning algorithm.The performance of the approach was evaluated in a simulated environment with a quadrotor that was equipped with camera and laser imaging detection and ranging(LIDAR)sensors to navigate through an unknown closed space and reach a desired goal point.Inclusion of crossing points allows the robot to escape from areas where it is con-gested.The navigation of the robot has been tested in different scenarios based on the proposed path planning algorithm and compared with other improved APF methods.The results showed that the improved APF methods and the methods rein-forced with other path planning algorithms were similar in performance with the proposed method for the same goals in the same room.For the goals outside the current room,traditional APF methods were quite unsuccessful in reaching the goals.Even though improved methods were able to reach some outside targets,the proposed method gave approximately 17%better results than the most success-ful example in achieving targets outside the current room.The proposed method can also work in real-time to discover a building and navigate between rooms.

A Novel Sliding-mode Guidance Law Based on Lie-group Method

Although the channel-decoupling assumption is often used in design of three-dimensional guidance laws, it loses its rationality for aircrafts with strong kinematics coupling because body rotation arises. To overcome this trouble, a novel guiding method was proposed based on Lie-group. After a model of 3D guidance is formulated using vectors, the precision guidance with ending angular constraints can be transformed into a problem involving the relation between directional angles and rotational angular velocities of certain vectors. When the guidance model is imposed a SO(3)-based description, a novel 3D sliding mode guidance law with ending angular constraints can be developed via Lie-group control method and variable structure control theory. Finally, the feasibility and performance of the guidance law were shown by simulating the examples.

Modeling and Simulation for Gliding Missile with Large Aspect Ratio

An improved STT (skid to turn) autopilot was developed to solve the problem of roll control saturation for the gliding missile with large aspect ratio. A lateral acceleration feedback was introduced in the roll channel of the autopilot to ensure that the roll angle could closely follow the lateral acceleration,so that the sideslip angle and the roll rudder deflection could be reduced,and the roll control saturation was avoided. A six-DOF ( degree of freedom) nonlinear simulation model was set up. The simulation results indicate that the model and the control scheme are effective.

Aero-optical effects simulation technique for starlight transmission in boundary layer under high-speed conditions

Aero-optical effects for starlight transmission in the high-speed flow field will reduce the accuracy of the star sensor on an aircraft.Numerical simulations for aero-optical effects usually require plenty of calculations,which cause difficulties when designing a celestial navigation system for a high-speed aircraft.In this study,an Aero-Optical Simulator For Starlight Transmission(AOSST)in the boundary layer is developed.It effectively reduces the computational burden compared to that of the widely used CFD simulation,and it achieves satisfactory accuracy.In this simulator,gas ellipsoids satisfying certain design rules are used to simulate coherent density structures in boundary layers.Design rules for the gas ellipsoids are found from published experimental and high-fidelity CFD simulation results.The generated wavefront distortion by AOSST is anchored with the scale law for aero-optical distortion in the boundary layer by determining some control parameters,which enables the simulator to output reliable results over a wide range of flight states.Four numerical examples are provided to verify the performance of AOSST.The results demonstrate that AOSST is able to simulate the directional dependence of aero-optical distortions in boundary layers,the variation trend of distorted wavefront shapes with Reynolds number,and the grayscale distribution on the disturbed star map.