A review: On path planning strategies for navigation of mobile robot

This paper considers actuator redundancy management for a class of overactuated nonlinear systems. Two tools for distributing the control effort among a redundant set of actuators are optimal control design and control allocation. In this paper, we investigate the relationship between these two design tools when the performance indexes are quadratic in the control input. We show that for a particular class of nonlinear systems, they give exactly the same design freedom in distributing the control effort among the actuators. Linear quadratic optimal control is contained as a special case. A benefit of using a separate control allocator is that actuator constraints can be considered, which is illustrated with a flight control example.

Resolving actuator redundancy: optimal control vs. control allocation

https://purehost.bath.ac.uk/ws/files/169821880/UAVRTOP_manuscript_7_.pdf

The unmanned aerial vehicle routing and trajectory optimisation problem, a taxonomic review

The present application discloses a remote control method and apparatus for controlling the state of a movable object and/or a load carried thereon. The remote control method comprising: receiving, via an apparatus, a state signal that corresponds to a user's position; remote-controlling the state of the a load being carried on a movable object based on the state signal; wherein the state of the load is the result of combining the movement of the load relative to the movable object and the movement of the object relative to its environment. For example, the control of the state can be achieved through the state of the apparatus itself, a user's state captured by an apparatus, a graphical interface on a screen of an apparatus, or a voice command.

Remote control method and terminal

A parallel compact cuckoo search algorithm for three-dimensional path planning

Robot 3D three-dimension path planning targets for finding an optimal and collision-free path in a 3D workspace while taking into account kinematic constraints including geometric, physical, and temporal constraints. The purpose of path planning, unlike motion planning which must be taken into consideration of dynamics, is to find a kinematically optimal path with the least time as well as model the environment completely. We discuss the fundamentals of these most successful robot 3D path planning algorithms which have been developed in recent years and concentrate on universally applicable algorithms which can be implemented in aerial robots, ground robots, and underwater robots. This paper classifies all the methods into five categories based on their exploring mechanisms and proposes a category, called multifusion based algorithms. For all these algorithms, they are analyzed from a time efficiency and implementable area perspective. Furthermore a comprehensive applicable analysis for each kind of method is presented after considering their merits and weaknesses.

/pdf/survey-of-robot-3d-path-planning-algorithms-1a99fixnk9.pdf

Survey of Robot 3D Path Planning Algorithms

With the development of unmanned helicopters, the dependability of helicopters have attracted more and more attention of many researchers. In order to deal with these problems, fault diagnosis and fault tolerant control methods were used for manned or unmanned helicopter platforms. This paper presents an overview of the existing works on fault diagnosis, including analytical/model-based, signal processing-based and knowledge-based techniques, and passive/active fault tolerant control approaches for helicopters mainly with single rotor. Before the main part of the review, a short description of fault classification is presented. Compared with the former work, this review contains some in-depth discussion of various fault diagnosis techniques and a survey for fault tolerant control methods.

Fault diagnosis and fault tolerant control methods for manned and unmanned helicopters: A literature review

Airborne air-photo image-stabilizing cloud deck of unmanned aerial vehicle

The invention relates to an onboard aerial photo cradle head camera and video camera controller, in particular to an aerial photo controller for enabling an unmanned aerial vehicle ground control system to complete camera status checkout, shutter controlling and video camera zooming functions by a camera and video camera control interface The cradle head aerial photo controller for controlling a camera and a video camera is carried in an unmanned aerial vehicle cradle head, the cradle head aerial photo controller is respectively connected with a single lens reflex camera shutter and a high definition video camera local area network chip (LANC) interface through a camera interface and a video camera interface and connected with an unmanned aerial vehicle flight control system through a serial communication interface, and control commands of the cradle head aerial photo controller are integrated into a data link between the unmanned aerial vehicle flight control system and the unmanned aerial vehicle ground control system The controller has the advantages that the remote control function of the cradle head camera and video camera is achieved by the aid of serial communication of a cradle head module and a flight controller, and effects of application to unmanned aerial vehicle electricity line patrol, seismic resistance, combating floods, disaster-relief works and aerial photo are improved

Aerial photo camera and video camera controller applied to electric transmission line routing inspection

The utility model relates to a vehicle-mounted system, in particular to a mechanical and electrical integration unmanned helicopter vehicle-mounted system. The mechanical and electrical integration unmanned helicopter vehicle-mounted system comprises a transport vehicle, an electric capstan, a sliding rail, a lifting antenna pedestal, a data antenna, an image antenna, an antenna putting-down device and a generator. The electric capstan is installed on a bumper of a vehicle head of the transport vehicle, the generator is placed in the transport vehicle when being transported and placed outside the transport vehicle when being used, a power socket which leads in electricity of the generator is arranged in a vehicle tail of the transport vehicle, the antenna putting-down device is arranged on the top of the transport vehicle, the image antenna is connected with the antenna putting-down device, the inner portion of the transport vehicle is divided into a cab and a warehouse, the sliding rail which can be drawn is installed on the floor of the warehouse, an unmanned helicopter is installed on the sliding rail, cabinets which are used for storing objects are arranged on one side of the sliding rail, the lifting antenna pedestal is arranged on the other side of the sliding rail, and the data antenna is installed on the lifting antenna pedestal and controlled by the lifting antenna pedestal to rise and fall. The mechanical and electrical integration unmanned helicopter vehicle-mounted system has the advantages of being complete in device, reasonable in layout, and capable of meeting requirements of transportation, usage and supply of the unmanned helicopter and relevant supporting facilities.

Xia Yong

Papers

Survey of Robot 3D Path Planning Algorithms

Fault diagnosis and fault tolerant control methods for manned and unmanned helicopters: A literature review

Airborne air-photo image-stabilizing cloud deck of unmanned aerial vehicle

Aerial photo camera and video camera controller applied to electric transmission line routing inspection

Mechanical and electrical integration unmanned helicopter vehicle-mounted system