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A path-following method for fixed-wing unmanned aerial vehicles (UAVs) is presented in this paper. This method consists of an outer guidance loop and an inner control loop. The guidance law relies on the idea of tracking a virtual target. The motion of the virtual target is explicitly specified. The main advantage of this guidance law is that it considers(More)
This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and(More)
This paper presents a novel nonlinear adaptive control scheme for the angle of attack of autonomous aircraft with some unknown aerodynamic parameters based on Immersion and Invariance approach. The design is based on a modular adaptive backstepping scheme with a recently developed nonlinear estimator that is relatively easy to tune. The nonlinear estimator(More)
This paper presents a simulation model applied for estimating the capacity of airport's runway systems. Different from most analytical runway capacity estimation models which use mathematical formulas to compute capacity directly and some other programming-intensive simulation models, we utilize a sophisticated discrete event simulation software, Arena, to(More)
This paper presents a non-linear state observer-based integrated navigation scheme for estimating the attitude, position and velocity of micro aerial vehicles (MAV) operating in GPS-denied indoor environments, using the measurements from low-cost MEMS (micro electro-mechanical systems) inertial sensors and an RGB-D camera. A robust RGB-D visual odometry(More)
An improved method based on Lazy wavelet lifting scheme and mixed threshold function combined with idea of domain relative filters is proposed for the purpose of enhancing the accuracy of de-noising output of Fiber Optic Gyroscope (FOG) and eliminating the drawback of slow speed of former wavelets. This new method can reduce the bias of soft threshold(More)
Most of Path Planning Algorithms are applied independently when solving real-time path planning problems. However, utilizing multiple algorithms simultaneously can avoid the disadvantages of their each as much as possible. This paper divides the real-time path planning mission into two grades employing different algorithms. A* algorithm is used to plan a(More)
This paper presents a new method for UAV to follow the 2-D defined path. This method consists of the out guidance loop and the inner control loop. The guidance law relies on the idea of tracking the virtual target that travels along the path. The speed of the virtual target is explicitly specified and related to the motion of the real aircraft by a(More)