Huayong Zhu

Active sensing based cooperative target tracking using UAVs in an urban area

To the problem of cooperative ground moving target tracking using UAVs in an urban area, a novel method is presented, which based on target state fusion estimation and prediction, as well as on-line trajectory planning. Firstly, based on active sensing, a solving framework was presented, the formal representation and system model of cooperative target tracking using a team UAVs was established; secondly, a filter, named unscented information filter, was suggested for fusion estimation and prediction of the target state; thirdly, with a predicted target state, an on-line trajectory planning algorithm was presented, which based on receding horizon control and genetic algorithm. Simulation results demonstrate that the performance of target tracking was improved with regard to the predicted target state.

Target state estimation and prediction based standoff tracking of ground moving target using a fixed-wing UAV

To the problem of standoff Ground Moving Target Tracking using a fixed-wing UAV, a novel solving framework is presented, which based on target state estimation, prediction and on-line motion planning. First of all, a solving framework was presented, the formal representation and system model of standoff tracking using Fixed-wing UAV was established; next, the Unscented Kalman Filter was suggested for the estimation and prediction of the target state; then, with a predicted target state, a modified motion planning algorithm was presented, which based on Lyapunov vector field. Simulation results demonstrated that the performance of standoff target tracking was improved with regards to the estimated and predicted target state.

Adaptive consensus fusion estimation for MSN with communication delays and switching network topologies

To the problem of distributed estimation for mobile sensor networks with communication delays and switching network topologies, a novel algorithm, named Adaptive Consensus based Distributed Unscented Information Filter, is presented. The proposed algorithm is based on unscented information filter, adaptive consensus algorithm, as well as a new fusion framework for the consideration of the communication delays. A target tracking application using a mobile sensor networks is employed to illustrate the performance of the proposed algorithm. Simulation results show that the proposed method can significantly improve the accuracy of target position estimation of each sensor node in a distributed fashion, when the distributed consensus between each nodes and the adaptability of the communication delays were assured.

Cooperative ground moving target standoff tracking using UAVs

To the problem of cooperative standoff tracking of a ground moving target using a team of UAVs, a novel solving framework was presented, which based on target state fusion estimation and prediction, as well as on-line motion planning. Firstly, a solving framework was presented, the formal representation and system models were established; secondly, the unscented information filter was suggested for the fusion estimation and prediction of the target state; thirdly, with a predicted target state, a modified central motion planning algorithm was presented, which based on Lyapunov vector field approach. Simulation results demonstrated that the performance of cooperative standoff target tracking was improved with regard to the fusion estimation and prediction of the target state.

Multi-UAV formation control method based on modified artificial physics

This paper proposed a formation control method based on the modified artificial physics for the multiple Unmanned Aerial Vehicles(UAVs) formation control problem. The formation control method based on basic artificial physics has a shortcoming of easily plunging into a local optimal solution, which will result in some unexpected formation. So we improved the existing artificial physics method using interaction scheme to avoid the local optimum. In our formation control method based on modified artificial physics, interaction forces are applied on the UAVs to make the system escape from local optimum and achieve global optimum. Meanwhile we have constructed a distributed multi-UAVs coordination simulation framework based on the Robot Operating System(ROS) and Gazebo 3D simulator. The simulation results using our simulation framework are presented to verify the effectiveness of our formation control method.

Lyapunov method-based collision avoidance for UAVs

A critical safety concern with the rapid increase in UAVs is developing algorithms that can solve the pressing airborne collision avoidance problem. This paper proposed a collision avoidance algorithm for UAVs based on the Lyapunov method. A collision cone approach is used to predict any possible collision with the obstacle. It begins with the property of the parallel navigation, then formulates the problem as the stability of the control system. Using the Lyapunov method to analyze the stability of the system, we can obtain the UAV rendezvous guidance law. Furthermore, combining the geometric characteristic of the collision avoidance, we can also obtain the UAV collision avoidance law. The feasibility and performance of the proposed approach is not only mathematically analyzed, but also verified through simulation.

Modeling and characterizing of unmanned aerial vehicles autonomy

How to describe and measure unmanned aerial vehicle (UAV) autonomy is of primary importance in the field of autonomous control of UAVs. One of the most challenging obstacles lies in the reasonable description framework of UAV autonomy. In this paper, the existing typical classification models of autonomous control levels are presented and compared firstly. With the construction of task-level model and decision-process model of UAV autonomous control system, a novel classification framework based on the two models is proposed. Under this framework, task-level model should reflect UAV autonomy as perceived by an external observer, while decision-process model considers more internal decision-making aspects. According to the description framework, a detailed autonomous control levels with two dimensions is proposed. Finally, some future directions and difficulties of the issue about evaluating UAV autonomy are also addressed.

Distribute semi-physical simulation system for multi UCAVs cooperative control base on DCPS

In order to figure out the distribute control and decision problem in multi UCAVs cooperative combat, semi-physical simulation system for multi UCAVs cooperative control was proposed and built, and its network middleware was based on DCPS communication model. The open architecture of simulation system was established. And the network communication middleware was completed by Open DDS. Time delay and jitter character of communication system were analyzed. The results demonstrated the validity of the communication model. At last, the cooperative combat of distribute multi UCAVs in this system was introduced simply.

Research and simulation of the transfer control for remote operation of Multi-UAS

A method to operate the resources of decentralized Multiple Unmanned Aircraft Systems(Multi-UAS) was proposed. Firstly, the issues for the transfer control about remote cooperative control in Multi-UAS were discussed; secondly, the process of the transfer control among multiple mission control elements was suggested; then, the rules to assign the privilege of control among the process, the cooperative assignment module and the transfer protocol were designed; next, basic operation modes for the transfer control were presented with the basis of Common Ground Control Station; and finally, a corresponding simulation scenario for cooperative multi-UAS was realized to validate the effectiveness of the proposed process of transfer control.