Unmanned systems and robotics technologies have become very popular recently owing to their ability to replace human beings in dangerous, tedious, or repetitious jobs. This book fill the gap in the field between research and real-world applications, providing scientists and engineers with essential information on how to design and employ networked unmanned vehicles for remote sensing and distributed control purposes. Target scenarios include environmental or agricultural applications such as river/reservoir surveillance, wind profiling measurement, and monitoring/control of chemical leaks.
Table des matières
List of FiguresList of Tables
Foreword
Preface
Acknowledgments
Acronyms
1 Introduction
1.1 Monograph Roadmap
1.2 Research Motivations
1.3 Monograph Contributions
1.4 Monograph Organization
References
2 Aggie Air: a Low-Cost Unmanned Aircraft System for Remote Sensing
2.1 Introduction
2.2 Small UAS Overview
2.3 Aggie Air UAS Platform
2.4 OSAM-Paparazzi Interface Design for IMU Integration
2.5 Aggie Air UAS Test Protocol and Tuning
2.6 Typical Platforms
2.7 Chapter Summary
References
3 Attitude Estimation Using Low-Cost IMUs for Small Unmanned Aerial Vehicles
3.1 State Estimation Problem Definition
3.2 Rigid Body Rotations Basics
3.3 Low-Cost Inertial Measurement Units: Hardware and Sensor Suites
3.4 Attitude Estimation Using Complementary Filters on SO (3)
3.5 Attitude Estimation Using Extended Kalman Filters
3.6 Aggie EKF: GPS-Aided Extended Kalman Filter
3.7 chapter Summary
References
4 Lateral Channel Fractional Order Flight Controller Design for a Small UAV
4.1 Introduction
4.2 Preliminaries of UAV Flight Control
4.3 Roll-Channel System Identification and Control
4.4 Fractional Order Controller Design
4.5 Simulation Results
4.6 UAV Flight Testing Results
4.7 Chapter Summary
References
5 Remote Sensing Using Single Unmanned Aerial Vehicle
5.1 Motivations for Remote Sensing
5.2 Remote Sensing Using Small UAVs
5.3 Sample Applications for Aggie Air UAS
5.4 Chapter Summary
References
6 Cooperative Remote Sensing Using Multiple Unmanned Vehicles
6.1 Consensus-Based Formation control
6.2 Surface Wind Profile Measurement Using Multiple UAVs
6.3 Chapter Summary
References
7 Diffusion Control Using Mobile Sensor and Actuator Networks
7.1 Motivation and Background
7.2 Mathematical Modelling and Problem Formulation
7.3 CVT-Based Dynamical Actuator Motion Scheduling Algorithm
7.4 Grouping Effect in CVT-based Diffusion Control
7.5 Information Consensus in CVT Algorithm
7.6 Simulation Results
7.7 Chapter Summary
References
8 Conclusions and Future Research Suggestions
8.1 Conclusions
8.2 Future Research Suggestions
References
9 Appendix
9.1 List of Documents for CSOIS Flight Test Protocol
9.2 IMU/GPS Serial Communication Protocols
9.3 Paparazzi Autopilot Software Architecture: A Modification Guide
9.4 Diff MAS2D Code Modification Guide
References
Topic Index
A propos de l’auteur
HAIYANG CHAO, Ph D, is a postdoctoral fellow in theDepartment of Mechanical and Aerospace Engineering at West Virginia
University in Morgantown. He authored or coauthored more than
twenty peer-reviewed research papers and is one of the key
developers of Aggie Air, a low-cost, small UAV platform for remote
sensing applications.
YANGQUAN CHEN, Ph D, is Associate Professor of Electrical
and Computer Engineering at Utah State University in Logan. He
holds fourteen U.S. patents and is the author of several research
monographs and edited volumes, five textbooks, and over 500
peer-reviewed research papers.
Langue Anglais ● Format PDF ● Pages 240 ● ISBN 9781118377185 ● Taille du fichier 7.7 MB ● Maison d’édition John Wiley & Sons ● Publié 2012 ● Édition 1 ● Téléchargeable 24 mois ● Devise EUR ● ID 2608672 ● Protection contre la copie Adobe DRM
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