Movement Of Unmanned Aerial Vehicles Research Articles

Development of mathematical modeling of a mobile robot's motion control system

This study focuses on developing a mathematical model for precise control and stabilization of unmanned aerial vehicles (UAVs) in various spatial conditions. Addressing the problem of achieving precise control and stability, the proposed solution designs a control system based on a linear-quadratic controller (LQR) and simulates it using a proportional-derivative (PD) controller implemented in Matlab/Simulink. The results demonstrate high precision and stability in controlling the UAV motion parameters – roll, pitch, yaw, and altitude. This important level of performance is achieved due to the adaptivity of the LQR-based control system, which optimizes control actions according to the unsteady dynamics of the UAV. The integration of the PD controller improves responsiveness and stability, providing precise motion control over a range of spatial states. These features effectively solve the problem by handling the complex dynamics of the UAV and providing precise control. The results are explained by the ability of the LQR to provide optimal control laws that minimize deviations using a quadratic cost function, while the PD controller quickly corrects errors and responds to disturbances. The benefits of this approach include a significant reduction in control errors by about 25–30 %, increased response speed to external disturbances, and reduced computational latency due to efficient processing compared to more resource-intensive methods such as model predictive control. The developed mathematical model can be applied in practice in conditions requiring robust real-time control and adaptation to dynamic changes in the environment. It is especially suitable for industries such as logistics, surveillance, and environmental monitoring, providing an effective and optimal solution for stabilizing and controlling the motion of UAVs in various spatial states. This approach improves the performance of UAVs and expands their capabilities in various operating conditions.

Probabilistic Risk Assessment for Data Rate Maximization in Unmanned Aerial Vehicle-Assisted Wireless Networks

The evolution of beyond fifth generation (B5G) wireless networks poses significant technical and economic challenges across urban, suburban, and rural areas, demanding increased capacity for users whose positions continually change. This study investigated the dynamic positioning of an unmanned aerial vehicle (UAV), acting as a mobile base station (MoBS) to enhance network efficiency and meet ground terminals (GTs) expectations for data rates, particularly in emergency scenarios or temporary events. While UAVs show great promise, existing research often assumes certainty in network architecture, overlooking the complexities of unpredictable user movements. We introduce a decision-making framework utilizing the ordered weighted averaging (OWA) operator to address uncertainties in GT locations, enabling the optimization of UAV trajectories to maximize the overall network data rate. An optimization problem is formulated by modeling GT dynamics through a Markov process and discretizing UAV movements while accounting for communication thresholds and movement constraints. Extensive simulations reveal that our approach significantly improves expected data rates by up to 48% compared to traditional fixed base stations (BSs) and predefined UAV movement patterns. This research underscores the potential of UAV-assisted networks to bolster communication reliability while effectively managing dynamic user movements to maintain optimal quality of service (QoS).

Joint Computation Offloading and Trajectory Optimization for Edge Computing UAV: A KNN-DDPG Algorithm

Unmanned aerial vehicles (UAVs) are widely used to improve the coverage and communication quality of wireless networks and assist mobile edge computing (MEC) due to their flexible deployments. However, the UAV-assisted MEC systems also face challenges in terms of computation offloading and trajectory planning in the dynamic environment. This paper employs deep reinforcement learning to jointly optimize the computation offloading and trajectory planning for UAV-assisted MEC system. Specifically, this paper investigates a general scenario where multiple pieces of user equipment (UE) offload tasks to a UAV equipped with a MEC server to collaborate on a complex job. By fully considering UAV and UE movement, computation offloading ratio, and blocked relations, a joint computation offloading and trajectory optimization problem is formulated to minimize the maximum computational delay. Due to the non-convex nature of the problem, it is converted into a Markov decision process, and solved by the deep deterministic policy gradient (DDPG) algorithm. To enhance the exploration capability and stability of DDPG, the K-nearest neighbor (KNN) algorithm is employed, namely KNN-DDPG. Moreover, the prioritized experience replay algorithm, where the constant learning rate is replaced by the decaying learning rate, is utilized to enhance the converge. To validate the effectiveness and superiority of the proposed algorithm, KNN-DDPG is compared with the benchmark DDPG algorithm. Simulation results demonstrate that KNN-DDPG can converge and achieve 3.23% delay reduction compared to DDPG.

Aileron fault detection with dynamic resampling based on fuzzy entropy and multi-branch neural network

The complex movements of unmanned aerial vehicles (UAVs) and feature loss at low resampling rates will result in the misidentification of aileron damage. In this paper, a fault detection method based on fuzzy entropy and a multi-branch neural network (MBNN) is proposed to shorten the fault detection time by reducing the resampling rate. The optimal size of the sliding window sampler is determined by analysing the UAV’s movement using fuzzy entropy, ensuring that the captured flight data segments reflect the UAV’s flight status with a smaller size. The multi-branch structure and feature-sharing mechanism in the network are used to adapt to feature loss at low sampling rates. The resampling rate is dynamically adjusted in accordance with the change in the UAV’s fault status, which is calculated from MBNN’s output using the Kullback Leibler (KL) divergence. Experimental results show that the proposed method can improve the real-time performance of UAV fault detection and maintain high accuracy.

A Novel Approach for Trajectory Tracking Control of an Under-Actuated Quad-Rotor UAV

A novel Udwadia-Kalaba approach for the trajectory tracking control of an under-actuated quad-rotor unmanned aerial vehicle (UAV) is presented. Compared to standard control approaches, the desired trajectories are treated as constraints called trajectory tracking constraints in this approach. Neither making any approximations or linearization of the nonlinear system nor imposing any a priori structure on the nature of the nonlinear controller, this methodology provides closedform nonlinear control. The control inputs satisfying the desired trajectory requirements can be obtained explicitly in compact closed form by solving Udwadia-Kalaba equation. Nonlinear dynamics modeling of a quad-rotor UAV is processed and a desired trajectory is given in this paper to illustrate this approach. The theoretical analysis and MATLAB simulation results verify the validity and efficiency of this approach. The real-time servo constraint forces are obtained conveniently and the quad-rotor UAV's movement meets the designed trajectory precisely.

Determining the coordinates of unmanned aerial vehicles

The purpose of the work was to develop a method for determining unmanned aerial vehicles’ (UAVs) coordinates, trajectory and parameters of their spatial movements by means of kinematic projection. The paper analyses the use of technologies for determining coordinates and spatial movements of aircraft trajectories. The principle of the kinematic scheme of fixing moving objects by means of orthogonal and kinematic design has been developed. The principle scheme of determining UAV coordinates by kinematic projection was studied. The theoretical mathematical dependencies of the determination and calculations of the coordinates of spatial movements of unmanned aerial vehicles have been practically verified. The main object of research in this work was the theory of kinematic design as a means of graphically displaying the patterns of spatial movements of objects. The subject of the study was the specific features of searching and recording the trajectories of spatial movements of unmanned aerial vehicles in order to determine the coordinates of their instantaneous location in space. In the process of conducting theoretical and experimental research, methods and techniques of physical and mathematical modelling of fast-moving processes and mathematical statistics of analysis and classification of their results were used. The basis of the experimental study was the theory of mapping coordinates and trajectories of spatial movements of moving objects by means of graphic geometry when combining classical orthogonal design with dynamic features of kinematic design. For an objective assessment of the results of the theoretical and experimental study of the dynamics of objects moving in space, the classical theory of research planning with a mathematical apparatus for processing their results was used. Graphical models of UAV coordinate fixation were made with the use of computer technology and the AutoCAD graphic editor software.

An Innovative Approach for Mission Sharing and Route Planning of Swarm Unmanned Aerial Vehicles in Disaster Management

Fast and effective response in disaster situations is critical for the success of rescue operations. In this context, swarm Unmanned Aerial Vehicles (UAVs) play an important role in disaster response by rapidly scanning large areas and performing situation assessments. In this paper, we propose an innovative method for task allocation and route planning for swarm UAVs. By combining Genetic Algorithm (GA) and Ant Colony Optimization (ACO) techniques, this method aims to ensure the most efficient movement of UAVs. First, clusters are created using GA to determine the regions of the disaster area that need to be scanned. At this stage, factors such as the capacities of the UAVs, their flight times, and the breadth of their mission areas are taken into account. Each UAV is optimized to scan a specific area assigned to it. Once the clusters are formed, the routes of the UAVs within each cluster are determined by the Ant Colony Algorithm (ACA). The route planning is tested both on Google Maps and in a simulation environment. Google Maps is used to evaluate the accuracy and feasibility of route planning based on real-world conditions, while the simulation environment provides the opportunity to test the behavior of the UAVs and the effectiveness of the routes in a virtual setting. With real-time data integration, the UAVs' route planning can be updated instantly and quickly adapted to emergency situations.

An autopilot-based method for unmanned aerial vehicles trajectories control and adjustment

In today's world, the rapid development of aviation technologies, particularly unmanned aerial vehicles (UAVs), presents new challenges and opportunities. UAVs are utilized across various industries, including scientific research, military, robotics, surveying, logistics, and postal delivery. However, to ensure efficient and safe operation, UAVs require a reliable autopilot system that delivers precise navigation control and flight stability. This paper introduces a method for controlling and adjusting UAV trajectories, which enhances accuracy in environments and tasks corresponding to the first or second level of autonomy. It outperforms the linear-quadratic method and the unmodified predictive control method by 43% and 74%, respectively. The findings of this study can be applied to the development and modernization of new UAV, as well as the advancement of new UAV motion control systems, thereby enhancing their quality and efficiency.

Integrating Bio-Inspired Approaches with UAV-FSN Systems for Clustered Target Area Detection in Agriculture

Abstract: Target area detection in agriculture plays a crucial role in optimizing crop management and resource allocation. Traditional methods often lack the precision and efficiency required for modern farming practices. Integrating bio-inspired approaches with UAV-FSN systems offers a promising solution to this challenge. By harnessing principles from nature, such as swarm intelligence and reinforcement learning, it becomes possible to optimize the deployment and coordination of UAVs within FSN for clustered target area detection in agriculture. This research explores the integration of bio-inspired approaches with UAV-FSN systems for clustered target area detection in agriculture. The increasing demand for precision agriculture necessitates efficient methods for identifying target areas affected by various factors. In this study, we introduce a novel algorithm, the QL-ABC Algorithm, which combines the Artificial Bee Colony (ABC) Algorithm with Q-Learning to optimize the deployment and movement of unmanned aerial vehicles (UAVs) within flying sensor networks (FSN) for target area detection. The performance outcomes of the proposed QL-ABC Algorithm on comparison with the existing algorithms are analysed using extensive simulation analysis with the appropriate simulation metrics: packet delivery ratio, mean end-to-end delay, and energy consumption. Results validate the usefulness of the proposed QL-ABC algorithm in accurately detecting clustered target areas in agricultural landscapes, thus contributing to advancements in precision farming practices and sustainable agriculture. Keywords: Flying Sensor Networks, Artificial Bee Colony Algorithm, Clustered Target Area Detection, Q-Learning, Unmanned Aerial Vehicles.

UAV formation control using enhanced behavior mechanism and artificial potential field

Inspired by formation flight of pigeon flock, this paper proposes a enhanced method of autonomous formation control of multiple Unmanned Aerial Vehicles (UAVs) that can maintain high symmetry based on pigeon flock behavior mechanism. Addressing the instability of formation in the original method, the follow improvements have been made. Firstly, improve leadership of top three UAVs, Secondly, modify artificial potential field strategies for top two followers. Finally, through a series of simulation experiments, it is verified that the UAVs can form the expected formation under the autonomous formation control, and can maintain the formation under the complex motion of leader UAV.

Estimating event probabilities via signal temporal logic and first occurrence distributions

Abstract Estimating the probability of events is a significant challenge in many fields, often requiring a probabilistic model or additional labels and tasks for accurate prediction. However, those methods have limited scalability or unnecessary computational resource consumption due to predicting unrelated values. To address these issues, we propose a novel approach that estimates event probabilities based on the distributions of their first occurrence in the time domain. By using Signal Temporal Logic formulas to describe events and applying an algorithm that estimates complex events’ probabilities through simple event occurrence distributions, this study presents an efficient approach that does not depend on high-precision prediction. We evaluate the performance of our method on simulated scenarios of unmanned aerial vehicle motion and autonomous driving.

DCFH: A dynamic clustering approach based on fire hawk optimizer in flying ad hoc networks

In flying ad hoc networks (FANETs), unmanned aerial vehicles (UAVs) communicate with each other without any fixed infrastructure. Because of frequent topological changes, instability of wireless communication, three-dimensional movement of UAVs, and limited resources, especially energy, FANETs deal with many challenges, especially the instability of UAV swarms. One solution to address these problems is clustering because it maintains network performance and increases scalability. In this paper, a dynamic clustering scheme based on fire hawk optimizer (DCFH) is proposed for FANETs. In DCFH, each cluster head calculates the period of hello messages in its cluster based on its velocity. Then, a fire hawk optimizer (FHO)-based dynamic clustering operation is carried out to determine the role of each UAV (cluster head (CH) or cluster member (CM)) in the network. To calculate the fitness value of each fire hawk, a fitness function is suggested based on four elements, namely the balance of energy consumption, the number of isolated clusters, the distribution of CHs, and the neighbor degree. To improve cluster stability, each CH manages the movement of its CMs and adjusts it based on its movement in the network. In the last phase, DCFH defines a greedy routing process to determine the next-hop node based on a score, which consists of distance between CHs, energy, and buffer capacity. Finally, DCFH is simulated using the network simulator version 2 (NS2), and its performance is compared with three methods, including the mobility-based weighted cluster routing scheme (MWCRSF), the dynamic clustering mechanism (DCM), and the Grey wolf optimization (GWO)-based clustering protocol. The simulation results show that DCFH well manages the number of clusters in the network. It improves the cluster construction time (about 55.51%), cluster lifetime (approximately 11.13%), energy consumption (about 15.16%), network lifetime (about 2.6%), throughput (approximately 3.9%), packet delivery rate (about 0.61%), and delay (approximately 14.29%). However, its overhead is approximately 8.72% more than MWCRSF.

UAV-Enabled Integrated Sensing and Communication: Opportunities and Challenges

Unmanned aerial vehicle (UAV)-enabled integrated sensing and communication (ISAC) has attracted growing research interests in the context of sixth-generation (6G) wireless networks, in which UAVs will be exploited as aerial wireless platforms to provide better coverage and enhanced sensing and communication (S&C) services. However, due to the size, weight, and power (SWAP) constraints of UAVs, their controllable mobility, and the line-of-sight (LoS) air-ground channels, UAVenabled ISAC introduces new opportunities and challenges. This article provides an overview of UAV-enabled ISAC and proposes various solutions for optimizing the S&C performance. In particular, we first introduce UAV-enabled joint S&C and discuss UAV motion control, wireless resource allocation, and interference management for ISAC systems employing single and multiple UAVs. Then, we present two application scenarios for exploiting the synergy between S&C, namely sensing-assisted UAV communication and communication-assisted UAV sensing. Finally, we highlight several interesting research directions to guide and motivate future work.

Multi-degree-of-freedom unmanned aerial vehicle control combining a hybrid brain-computer interface and visual obstacle avoidance

ObjectiveThe difficulty of unmanned aerial vehicle (UAV) control recently lies in multidirectional movement in 3-dimensional space, improving control accuracy and manipulation safety. To address these challenges, a UAV control system that incorporates a hybrid brain-computer interface (hBCI), gyroscope and visual obstacle avoidance based on monocular depth estimation is proposed. Approach. We propose an efficient steady-state visual evoked potential (SSVEP) classification network (CL-NET) featuring a one-dimensional convolutional neural network, a long short-term memory module and an attention module to identify the user's intention for UAV movement in the front, back, left and right directions. The take-off, landing and rising control of the UAV is realized by an electrooculogram (EOG) signal detection algorithm, a blink state detector. In addition, the UAV can fly in an oblique state and rotate according to the current head posture detected by a gyroscope. Furthermore, an improved monocular depth estimation network is employed to design the autonomous obstacle avoidance module of the UAV, ensuring the safety of the brain-controlled system in practice. Main results. The proposed CL-NET delivers an accuracy of 98.67% on the public dataset and an accuracy of 97.92% on the self-collected dataset, both of which surpass the performance of state-of-the-art models. Additionally, we set up a brain control group and a remote control group to conduct practical experiments in a realistic environment. In the experiments involving sixteen subjects, the proposed UAV control system reached an average information transfer rate (ITR) of 44.09 bits/min, and the brain control group had a lower collision rate than the remote control group. Significance. The hybrid control method ensures that the multi-degree-of-freedom (multi-DOF) UAV control system maintains outstanding performance while ensuring good safety.

Two-Layer Edge Intelligence for Task Offloading and Computing Capacity Allocation with UAV Assistance in Vehicular Networks.

With the exponential growth of wireless devices and the demand for real-time processing, traditional server architectures face challenges in meeting the ever-increasing computational requirements. This paper proposes a collaborative edge computing framework to offload and process tasks efficiently in such environments. By equipping a moving unmanned aerial vehicle (UAV) as the mobile edge computing (MEC) server, the proposed architecture aims to release the burden on roadside units (RSUs) servers. Specifically, we propose a two-layer edge intelligence scheme to allocate network computing resources. The first layer intelligently offloads and allocates tasks generated by wireless devices in the vehicular system, and the second layer utilizes the partially observable stochastic game (POSG), solved by duelling deep Q-learning, to allocate the computing resources of each processing node (PN) to different tasks. Meanwhile, we propose a weighted position optimization algorithm for the UAV movement in the system to facilitate task offloading and task processing. Simulation results demonstrate the improved performance by applying the proposed scheme.

Multi-UAV Path Planning and Following Based on Multi-Agent Reinforcement Learning

Dedicated to meeting the growing demand for multi-agent collaboration in complex scenarios, this paper introduces a parameter-sharing off-policy multi-agent path planning and the following approach. Current multi-agent path planning predominantly relies on grid-based maps, whereas our proposed approach utilizes laser scan data as input, providing a closer simulation of real-world applications. In this approach, the unmanned aerial vehicle (UAV) uses the soft actor–critic (SAC) algorithm as a planner and trains its policy to converge. This policy enables end-to-end processing of laser scan data, guiding the UAV to avoid obstacles and reach the goal. At the same time, the planner incorporates paths generated by a sampling-based method as following points. The following points are continuously updated as the UAV progresses. Multi-UAV path planning tasks are facilitated, and policy convergence is accelerated through sharing experiences among agents. To address the challenge of UAVs that are initially stationary and overly cautious near the goal, a reward function is designed to encourage UAV movement. Additionally, a multi-UAV simulation environment is established to simulate real-world UAV scenarios to support training and validation of the proposed approach. The simulation results highlight the effectiveness of the presented approach in both the training process and task performance. The presented algorithm achieves an 80% success rate to guarantee that three UAVs reach the goal points.

An Angular Acceleration Based Looming Detector for Moving UAVs.

Visual perception equips unmanned aerial vehicles (UAVs) with increasingly comprehensive and instant environmental perception, rendering it a crucial technology in intelligent UAV obstacle avoidance. However, the rapid movements of UAVs cause significant changes in the field of view, affecting the algorithms' ability to extract the visual features of collisions accurately. As a result, algorithms suffer from a high rate of false alarms and a delay in warning time. During the study of visual field angle curves of different orders, it was found that the peak times of the curves of higher-order information on the angular size of looming objects are linearly related to the time to collision (TTC) and occur before collisions. This discovery implies that encoding higher-order information on the angular size could resolve the issue of response lag. Furthermore, the fact that the image of a looming object adjusts to meet several looming visual cues compared to the background interference implies that integrating various field-of-view characteristics will likely enhance the model's resistance to motion interference. Therefore, this paper presents a concise A-LGMD model for detecting looming objects. The model is based on image angular acceleration and addresses problems related to imprecise feature extraction and insufficient time series modeling to enhance the model's ability to rapidly and precisely detect looming objects during the rapid self-motion of UAVs. The model draws inspiration from the lobula giant movement detector (LGMD), which shows high sensitivity to acceleration information. In the proposed model, higher-order information on the angular size is abstracted by the network and fused with multiple visual field angle characteristics to promote the selective response to looming objects. Experiments carried out on synthetic and real-world datasets reveal that the model can efficiently detect the angular acceleration of an image, filter out insignificant background motion, and provide early warnings. These findings indicate that the model could have significant potential in embedded collision detection systems of micro or small UAVs.

Analytical synthesis of the control laws at short-period longitudinal motion of the unmanned aerial vehicle

Analytical expressions of control laws for a linearized model of short-period longitudinal motion of a third-order unmanned aerial vehicle are obtained. The synthesis is based on the original decomposition of the control object and the method of modal state-based control of a dynamic system, previously developed on its basis. The numerical modeling results of the aircraft short-period longitudinal motion control by using analytically synthesized control laws, which are graphs of transient processes and control actions, are presented. Keywords decomposition, modal synthesis, longitudinal short-period motion of an aircraft, poles of a dynamic system

Hybrid Dual-Scale Neural Network Model for Tracking Complex Maneuvering UAVs

Accurate tracking and predicting unmanned aerial vehicle (UAV) trajectories are essential to ensure mission success, equipment safety, and data accuracy. Maneuverable UAVs exhibit complex and dynamic motion, and conventional tracking algorithms that rely on predefined models perform poorly when unknown parameters are used. To address this issue, this paper introduces a hybrid dual-scale neural network model based on the generalized regression multi-model and cubature information filter (GRMM-CIF) framework. We have established the GRMM-CIF filtering structure to differentiate motion modes and reduce measurement noise. Furthermore, considering trajectory datasets and rates of motion change, a neural network at different scales will be designed. We propose the dual-scale bidirectional long short-term memory (DS-Bi-LSTM) algorithm to address prediction delays in a multi-model context. Additionally, we employ scale sliding windows and threshold-based decision-making to achieve dual-scale trajectory reconstruction, ultimately enhancing tracking accuracy. Simulation results confirm the effectiveness of our approach in handling the uncertainty of UAV motion and achieving precise estimations.

KOGPSR: A 3D GPSR algorithm using adaptive Kalman prediction for FANETs with omnidirectional antenna

Nowadays, flying ad hoc network (FANET) has captured great attention for its huge potential in military and civilian applications. However, the high-speed movement of unmanned aerial vehicles (UAVs) in three-dimensional (3D) space leads to fast topology change in FANET and brings new challenges to traditional routing mechanisms. To improve the performance of packet transmission in the 3D high dynamic FANETs, we propose a 3D greedy perimeter stateless routing (GPSR) algorithm using adaptive Kalman prediction for FANETs with omnidirectional antenna (KOGPSR). Especially, in data forwarding part of the KOGPSR, we propose a new link metric for greedy forwarding based on a torus-shaped radiation pattern of the omnidirectional antenna of UAVs, and a restricted flooding strategy is introduced to solve the 3D void node problem in geographic routing. In addition, in order to enhance the accuracy of the location information of high dynamic UAVs, we design an adaptive Kalman algorithm to track and predict the motion of UAVs. Finally, a FANET simulation platform based on OPNET is built to depict the performance of the KOGPSR algorithm. The simulation results show that the proposed KOGPSR algorithm is more suitable for the actual 3D high dynamic FANET.