Download or read book Unmanned Aerial Vehicle Path Planning for Traffic Estimation and Detection of Non recurrent Congestion written by Cesar N. Yahia and published by . This book was released on 2018 with total page 140 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned aerial vehicles (drones) can be used in traffic and road monitoring applications. We investigate the benefit of using drones for simultaneous traffic state estimation and incident detection. Specifically, we propose a coupled planning and estimation framework where we adaptively navigate a drone to minimize the uncertainty on parameter and traffic state estimates. We show that the use of a drone provides significant improvement in incident detection under congested conditions. Without a drone, the estimation procedure in congested conditions is not able to distinguish between observations due to congestion under normal operating conditions and similar observations due to a reduction in capacity. To plan for multiple drones working in parallel, we investigate methods for partitioning a network such that each drone operates in a particular subnetwork. The partitioning objectives are to minimize inter-flow between partitions and to create balanced subnetworks. We implement a flow-weighted spectral partitioning algorithm and show that it performs better than simple agglomerative heuristics.
Download or read book The Rise of Smart Cities written by Amir Hossein Alavi and published by Butterworth-Heinemann. This book was released on 2022-04-12 with total page 698 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Rise of Smart Cities: Advanced Structural Sensing and Monitoring Systems provides engineers and researchers with a guide to the latest breakthroughs in the deployment of smart sensing and monitoring technologies. The book introduces readers to the latest innovations in the area of smart infrastructure-enabling technologies and howthey can be integrated into the planning and design of smart cities. With this book in hand, readers will find a valuable reference in terms of civil infrastructure health monitoring, advanced sensor network architectures, smart sensing materials, multifunctional material and structures, crowdsourced/social sensing, remote sensing and aerial sensing, and advanced computation in sensornetworks. - Reviews the latest development in smart structural health monitoring (SHM) systems - Introduces all major algorithms, with a focus on practical implementation - Includes real-world applications and case studies - Opens up a new horizon for robust structural sensing methods and their applications in smart cities
Download or read book State Estimation and Control for Low cost Unmanned Aerial Vehicles written by Chingiz Hajiyev and published by Springer. This book was released on 2015-06-10 with total page 239 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book discusses state estimation and control procedures for a low-cost unmanned aerial vehicle (UAV). The authors consider the use of robust adaptive Kalman filter algorithms and demonstrate their advantages over the optimal Kalman filter in the context of the difficult and varied environments in which UAVs may be employed. Fault detection and isolation (FDI) and data fusion for UAV air-data systems are also investigated, and control algorithms, including the classical, optimal, and fuzzy controllers, are given for the UAV. The performance of different control methods is investigated and the results compared. State Estimation and Control of Low-Cost Unmanned Aerial Vehicles covers all the important issues for designing a guidance, navigation and control (GNC) system of a low-cost UAV. It proposes significant new approaches that can be exploited by GNC system designers in the future and also reviews the current literature. The state estimation, control and FDI methods are illustrated by examples and MATLAB® simulations. State Estimation and Control of Low-Cost Unmanned Aerial Vehicles will be of interest to both researchers in academia and professional engineers in the aerospace industry. Graduate students may also find it useful, and some sections are suitable for an undergraduate readership.
Download or read book UAV Sensors for Environmental Monitoring written by Felipe Gonzalez Toro and published by MDPI. This book was released on 2018-03-05 with total page 671 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is a printed edition of the Special Issue "UAV Sensors for Environmental Monitoring" that was published in Sensors
Download or read book Cooperative Path Planning of Unmanned Aerial Vehicles written by Antonios Tsourdos and published by John Wiley & Sons. This book was released on 2010-11-09 with total page 216 pages. Available in PDF, EPUB and Kindle. Book excerpt: An invaluable addition to the literature on UAV guidance and cooperative control, Cooperative Path Planning of Unmanned Aerial Vehicles is a dedicated, practical guide to computational path planning for UAVs. One of the key issues facing future development of UAVs is path planning: it is vital that swarm UAVs/ MAVs can cooperate together in a coordinated manner, obeying a pre-planned course but able to react to their environment by communicating and cooperating. An optimized path is necessary in order to ensure a UAV completes its mission efficiently, safely, and successfully. Focussing on the path planning of multiple UAVs for simultaneous arrival on target, Cooperative Path Planning of Unmanned Aerial Vehicles also offers coverage of path planners that are applicable to land, sea, or space-borne vehicles. Cooperative Path Planning of Unmanned Aerial Vehicles is authored by leading researchers from Cranfield University and provides an authoritative resource for researchers, academics and engineers working in the area of cooperative systems, cooperative control and optimization particularly in the aerospace industry.
Download or read book Path Planning for Autonomous Vehicle written by Umar Zakir Abdul Hamid and published by BoD – Books on Demand. This book was released on 2019-10-02 with total page 150 pages. Available in PDF, EPUB and Kindle. Book excerpt: Path Planning (PP) is one of the prerequisites in ensuring safe navigation and manoeuvrability control for driverless vehicles. Due to the dynamic nature of the real world, PP needs to address changing environments and how autonomous vehicles respond to them. This book explores PP in the context of road vehicles, robots, off-road scenarios, multi-robot motion, and unmanned aerial vehicles (UAVs ).
Download or read book Autonomous Road Vehicle Path Planning and Tracking Control written by Levent Guvenc and published by John Wiley & Sons. This book was released on 2021-12-06 with total page 256 pages. Available in PDF, EPUB and Kindle. Book excerpt: Discover the latest research in path planning and robust path tracking control In Autonomous Road Vehicle Path Planning and Tracking Control, a team of distinguished researchers delivers a practical and insightful exploration of how to design robust path tracking control. The authors include easy to understand concepts that are immediately applicable to the work of practicing control engineers and graduate students working in autonomous driving applications. Controller parameters are presented graphically, and regions of guaranteed performance are simple to visualize and understand. The book discusses the limits of performance, as well as hardware-in-the-loop simulation and experimental results that are implementable in real-time. Concepts of collision and avoidance are explained within the same framework and a strong focus on the robustness of the introduced tracking controllers is maintained throughout. In addition to a continuous treatment of complex planning and control in one relevant application, the Autonomous Road Vehicle Path Planning and Tracking Control includes: A thorough introduction to path planning and robust path tracking control for autonomous road vehicles, as well as a literature review with key papers and recent developments in the area Comprehensive explorations of vehicle, path, and path tracking models, model-in-the-loop simulation models, and hardware-in-the-loop models Practical discussions of path generation and path modeling available in current literature In-depth examinations of collision free path planning and collision avoidance Perfect for advanced undergraduate and graduate students with an interest in autonomous vehicles, Autonomous Road Vehicle Path Planning and Tracking Control is also an indispensable reference for practicing engineers working in autonomous driving technologies and the mobility groups and sections of automotive OEMs.
Download or read book Lane Based Unmanned Aircraft Systems Traffic Management written by David Sacharny and published by Springer Nature. This book was released on 2022-05-09 with total page 198 pages. Available in PDF, EPUB and Kindle. Book excerpt: The age of Advanced Air Mobility (AAM) is upon us, and in ushering new ways to connect and travel, this wave of technology has been compared to GPS and cloud computing. However, new technologies like AAM require tools to build, expand, and understand the capabilities. This book describes an effective and efficient, complete solution to the large-scale, unmanned aircraft systems (UAS) traffic management problem. The authors present a detailed perspective and solutions to some of the major problems involved in coordinating thousands of autonomous vehicles including: virtual highway (lane) creation, strategic deconfliction of flights, dynamic deconfliction, UAS agent behavior learning, anomalous trajectory detection and classification, as well as a set of simulation results for a variety of scenarios (city package delivery, earthquake supply delivery, coalition force coordination through the lane reservation system, etc.).
Download or read book Unmanned Aerial Vehicles Applications Challenges and Trends written by Mohamed Abdelkader and published by Springer Nature. This book was released on 2023-06-29 with total page 404 pages. Available in PDF, EPUB and Kindle. Book excerpt: This is a book that covers different aspects of UAV technology, including design and development, applications, security and communication, and legal and regulatory challenges. The book is divided into 13 chapters, grouped into four parts. The first part discusses the design and development of UAVs, including ROS customization, structured designs, and intelligent trajectory tracking. The second part explores diverse applications such as search and rescue, monitoring distributed parameter systems, and leveraging drone technology in accounting. The third part focuses on security and communication challenges, including security concerns, multi-UAV systems, and communications security. The final part delves into the legal and regulatory challenges of integrating UAVs into non-segregated airspace. The book serves as a valuable resource for researchers, practitioners, and students in the field of unmanned aerial vehicles, providing a comprehensive understanding of UAV technology and its applications.
Download or read book Path Planning for Motion Dependent State Estimation on Micro Aerial Vehicles written by Markus W. Achtelik (Ingénieur mécanicien.) and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book A Novel Framework for Real time Traffic Flow Parameter Estimation from Aerial Videos written by Ruimin Ke and published by . This book was released on 2016 with total page 78 pages. Available in PDF, EPUB and Kindle. Book excerpt: Unmanned aerial vehicles (UAVs) are gaining popularity in traffic monitoring due to their low cost, high flexibility, and wide view range. Traffic flow parameters such as speed, density, and volume extracted from UAV-based traffic video are critical for traffic state estimation and traffic control, and has recently received more and more attention from researchers. However, different from stationary surveillance videos, the camera platforms move with UAVs and the motion in aerial videos makes it very challenging to process for data extraction. To address this problem, a novel framework composed of two complementary approaches for real-time traffic flow parameter estimation from aerial videos is proposed. The first approach is a motion-based approach, which identifies traffic streams and video background based on their motions using Kanade-Lucas-Tomasi (KLT) tracker and k-means clustering algorithm, and then extracts traffic flow parameters (speed, density, and volume) using connected graph and traffic flow theory. The second approach is a detection-based approach, which requires a vehicle detector training process. In this approach, vehicles from a top-view perspective are detected by the vehicle detector first and then the vehicle motion is estimated using KLT tracker as well as the background motion. Specifically, the vehicle detector is a combined cascaded classifier composed of Haar-like features and neural networks, making use of the fast processing speed of cascaded Haar classifier and the high detection rate of neural network. These two complementary approaches have their own advantages and together form the proposed framework for aerial video-based traffic flow parameter estimation. The system was tested on multiple aerial videos taken by UAVs operated in various scenarios including uncongested traffic condition, uncongested traffic condition, daytime, nighttime, UAV moving and UAV hovering. The experimental results show that the system is able to extract traffic flow speed, density and volume, and also achieves high performance in both traffic speed and vehicle count estimation in various challenging scenarios. The proposed system achieves a fast processing speed that enables real-time traffic information estimation.
Download or read book Unmanned Aerial Vehicle Path Planning for Detection of Mobile Targets written by Douglas Brown and published by . This book was released on 2018 with total page 102 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis presents work on mobile target detection using Unmanned Aerial Vehicles. A novel dynamic progressively-spiral-out (PSO) path is used for a team of unmanned aerial vehicles (UAVs) to perform an exhaustive search of mobile ground targets. Two novel procedures are designed for a UAV to be inserted into and removed from an established PSO formation without discontinuing the confidence area. A comparison study in simulation was conducted using both randomly moving and smart avoidance targets. The results show the effectiveness of the proposed approaches. The results compare the PSO path to a baseline raster path. The PSO path outperforms the raster path on time to detection of mobile targets, detection rate of smart avoidance targets, and detection rate of intrusive attacking targets. Future work with path planning and machine learning is also presented.
Download or read book Handbook of Unmanned Aerial Vehicles written by and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Autonomous Vehicle Path Planning Using MPC and APF written by Zahra Elmi and published by . This book was released on 2019 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Autonomous vehicles have been at the forefront of academic and industrial research in recent decades. This study,Äôs aim is to reduce traffic congestion, improve safety, and accidents. Path planning algorithms are one of the main elements in autonomous vehicles that make critical decisions. Motion planning methods are required when transporting passengers from one point to another. These methods have incorporated several methods such as generating the best trajectory while considering the constraints of vehicle dynamics and obstacles, searching a path to follow, and avoiding obstacles that guarantee comfort, safety, and efficiency. We suggested an effective path planning algorithm based on Model Predictive Controller that determines the maneuvers mode such as lane-keeping and lane-changing automatically. We utilized two different artificial potential field functions for the road boundary, obstacles, and lane center to ensure safety. On the four scenarios, we examined the proposed path planning controller. The obtained results show that when a path planning controller is used, the vehicle avoids colliding with obstacles and follows the rules of the road by adjusting the vehicle,Äôs dynamics. An autonomous vehicle,Äôs safety is ensured by the path planning controller.
Download or read book Optimal and Efficient Geolocation and Path Planning for Unmanned Aerial Vehicles Using Uncertainty Measures written by Sean R. Semper and published by . This book was released on 2011 with total page 214 pages. Available in PDF, EPUB and Kindle. Book excerpt: A general frame work for determining an object's absolute position from relative position measurements, commonly called geolocation, is developed in this dissertation. Relative measurements are obtained from a two unmanned aerial vehicle (UAV) team with electronic support measure (ESM) sensors on board. One team combines their time of arrival (TOA) measurements forming one time difference of arrival measurement (TDOA) from an emitter's signal. Using an Extended Kalman Filter (EKF), pseudorange equations containing UAV positions and emitter position estimates are sequentially estimated to solve for absolute emitter positions. Uncertainty metrics are derived for enhancing filter performance, allowing for a theoretical selection of guidance routines given operational requirements. When prior information is present then special stochastic approach is developed to include this information into the guidance routine. When the UAV heading angle contains errors, a newly derived a marginalized adaptive Gaussian sum propagator is used to estimate nonlinear UAV positions. Marginalizing the state-space places computational efforts on the nonlinear portions of the state-space and allows the linear portions to propagated using a linear Kalman Filter (KF). Combining new estimation methods allows one to deal with more complex scenarios and create robust architectures for passive geolocation solutions.
Download or read book Estimation with Applications to Tracking and Navigation written by Yaakov Bar-Shalom and published by John Wiley & Sons. This book was released on 2004-04-05 with total page 583 pages. Available in PDF, EPUB and Kindle. Book excerpt: Expert coverage of the design and implementation of state estimation algorithms for tracking and navigation Estimation with Applications to Tracking and Navigation treats the estimation of various quantities from inherently inaccurate remote observations. It explains state estimator design using a balanced combination of linear systems, probability, and statistics. The authors provide a review of the necessary background mathematical techniques and offer an overview of the basic concepts in estimation. They then provide detailed treatments of all the major issues in estimation with a focus on applying these techniques to real systems. Other features include: * Problems that apply theoretical material to real-world applications * In-depth coverage of the Interacting Multiple Model (IMM) estimator * Companion DynaEst(TM) software for MATLAB(TM) implementation of Kalman filters and IMM estimators * Design guidelines for tracking filters Suitable for graduate engineering students and engineers working in remote sensors and tracking, Estimation with Applications to Tracking and Navigation provides expert coverage of this important area.
Download or read book The Transport System and Transport Policy written by Bert van Wee and published by Edward Elgar Publishing. This book was released on 2023-08-14 with total page 403 pages. Available in PDF, EPUB and Kindle. Book excerpt: This extensively updated textbook introduces the transport system and its societal impacts in a holistic and multidisciplinary way. A timely second edition, it includes new analyses of travel behaviour and the transport system’s impacts on health and well-being.
