Robustness analysis of evolutionary controller tuning using real systems

A genetic algorithm (GA) presents an excellent method for controller parameter tuning. In our work, we evolved the heading as well as the altitude controller for a small lightweight helicopter. We use the real flying robot to evaluate the GA's individuals rather than an artificially consistent simulator. By doing so we avoid the ldquoreality gaprdquo, taking the controller from the simulator to the real world. In this paper we analyze the evolutionary aspects of this technique and discuss the issues that need to be considered for it to perform well and result in robust controllers

Beyond swarm intelligence: The Ultraswarm

This paper explores the idea that it may be possible to combine two ideas – UAV flocking, and wireless cluster computing – in a single system, the UltraSwarm. The possible advantages of such a system are considered, and solutions to some of the technical problems are identified. Initial work on constructing such a system based around miniature electric helicopters is described

A contribution to vision-based autonomous helicopter flight in urban environments

A navigation strategy that exploits the optic flow and inertial information to continuously avoid collisions with both lateral and frontal obstacles has been used to control a simulated helicopter flying autonomously in a textured urban environment. Experimental results demonstrate that the corresponding controller generates cautious behavior, whereby the helicopter tends to stay in the middle of narrow corridors, while its forward velocity is automatically reduced when the obstacle density increases. When confronted with a frontal obstacle, the controller is also able to generate a tight U-turn that ensures the UAV’s survival. The paper provides comparisons with related work, and discusses the applicability of the approach to real platforms

Fast, Autonomous Flight in GPS-Denied and Cluttered Environments

One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a-priori knowledge of the operating environment. This challenge is addressed in the present paper. We describe the system design and software architecture of our proposed solution, and showcase how all the distinct components can be integrated to enable smooth robot operation. We provide critical insight on hardware and software component selection and development, and present results from extensive experimental testing in real-world warehouse environments. Experimental testing reveals that our proposed solution can deliver fast and robust aerial robot autonomous navigation in cluttered, GPS-denied environments.Comment: Pre-peer reviewed version of the article accepted in Journal of Field Robotic

Experimental implementation controlled SPWM inverter based harmony search algorithm

An optimum PI controller using harmony search optimization algorithm (HS) is utilized in this research for the single-phase bipolar SPWM inverter. The aim of this algorithm is to avoid the conventional trial and error procedure which is usually applied in finding the PI coefficients in order to obtain the desired performance. Then, the control algorithm of the inverter prototype is experimentally implemented using the eZdsp F28355 board along with the bipolar sinusoidal pulse width modulation (SPWM) to control the output voltage drop under different load conditions. The proposed overall inverter design and the control algorithm are modelled using MATLAB environment (Simulink/m-file Code). The mean absolute error (MAE) formula is used as an objective function with the HS algorithm in finding the adaptive values of  and  parameters to minimize the error of the inverter output voltage. Based on the output results, the proposed voltage controller using HS algorithm based PI (HS-PI) showed that the inverter output performance is improved in terms of voltage amplitude, robustness, and convergence rate speed as compared to PSO algorithm based PI (PSO-PI). This is to say that the proposed controller provides a good dynamic responses in both cases; transient and steady-state. Finally, the experimental setup result of the inverter controller is verified to validate the simulation results

Quadrotor control for persistent surveillance of dynamic environments

Thesis (M.S.)--Boston UniversityThe last decade has witnessed many advances in the field of small scale unmanned aerial vehicles (UAVs). In particular, the quadrotor has attracted significant attention. Due to its ability to perform vertical takeoff and landing, and to operate in cluttered spaces, the quadrotor is utilized in numerous practical applications, such as reconnaissance and information gathering in unsafe or otherwise unreachable environments. This work considers the application of aerial surveillance over a city-like environment. The thesis presents a framework for automatic deployment of quadrotors to monitor and react to dynamically changing events. The framework has a hierarchical structure. At the top level, the UAVs perform complex behaviors that satisfy high- level mission specifications. At the bottom level, low-level controllers drive actuators on vehicles to perform the desired maneuvers. In parallel with the development of controllers, this work covers the implementation of the system into an experimental testbed. The testbed emulates a city using physical objects to represent static features and projectors to display dynamic events occurring on the ground as seen by an aerial vehicle. The experimental platform features a motion capture system that provides position data for UAVs and physical features of the environment, allowing for precise, closed-loop control of the vehicles. Experimental runs in the testbed are used to validate the effectiveness of the developed control strategies

Empirical measurements of small unmanned aerial vehicle co-axial rotor systems

Small unmanned aerial vehicles (SUAV) are beginning to dominate the area of intelligence, surveillance, target acquisition and reconnaissance (ISTAR) in forward operating battlefield scenarios. Of particular interest are vertical take-off and landing (VTOL) variants. Within this category co-axial rotor designs have been adopted due to their inherent advantages of size and power to weight ratio. The inter-rotor spacing attribute of a co-axial rotor system appears to offer insight into the optimum design characteristic. The H/D ratio has been cited as a significant factor in many research papers, but to date has lacked an empirical value or an optimal dimensionless condition. In this paper the H/D ratio of a SUAV has been explored thoroughly, reviewing the performance of these systems at incremental stages, the findings from this study have shown that a range of H/D ratios in the region of (0.41-0.65) is advantageous in the performance of SUAV systems. This finding lends itself to the theory of inter-rotor spacing as a non-dimensionally similar figure, which cannot be applied across a spectrum of systems; this could be attributed to the viscous losses of flight at low Reynolds Numbers (< 50,000