Remote Sensing and Actuation Using Unmanned Vehicles

Cover Image Copyright Year: 2012
Author(s): Haiyang Chao; YangQuan Chen
Book Type: Wiley-IEEE Press
Content Type : Books
Topics: Aerospace ;  Components, Circuits, Devices & Systems ;  Fields, Waves & Electromagnetics ;  Robotics & Control Systems ;  Signal Processing & Analysis ;  Transportation
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Abstract

How to design and use unmanned vehicles for remote sensing and actuation—a practical guide

Owing to their ability to replace human beings in dangerous, tedious, or repetitive jobs, unmanned systems are increasingly used in river/reservoir surveillance and the monitoring and control of chemical/nuclear leaks. This book presents new and innovative techniques for the design and use of unmanned vehicles for remote sensing and distributed control in agricultural and environmental systems.

Focusing on small, unmanned aerial vehicles (UAVs), Remote Sensing and Actuation Using Unmanned Vehicles first describes the design of AggieAir, a low-cost UAV platform for remote sensing. It then explains how to solve state estimation and advanced lateral flight controller design problems in the small UAV platform before examining remote sensing problems with single and multiple UAVs. The book also includes flight test results—building upon these measurements to present actuation algorithms for such missions as diffusion control.

Inside, readers will discover:

  • How to develop low-cost, small unmanned aircraft systems (UAS) for remote sensing applications
  • What autopilots are available for small UAVs, including a series of flight test protocols for the safe operation of small UAVs
  • How to design and implement advanced fractional-order controllers for autonomous navigation of UAVs
  • Voronoi diagram–based cooperative controller design for diffusion control in unmanned vehicles for both sensing and actuation
  • How to design and validate consensus-based controllers for rendezvous and formation control in unmanned ground vehicles

Including an appendix with IMU communication protocols and Paparazzi UAV code modification guides, Remote Sensing and Actuation Using Unmanned Vehicles is an invaluable guide for scientists and engineers in remote sensing, aerospace, robotics, and autonomo s control.

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    AggieAir: A Low-Cost Unmanned Aircraft System for Remote Sensing

    Copyright Year: 2012

    Wiley-IEEE Press eBook Chapters

    This chapter contains sections titled:

  • Introduction

  • Small UAS Overview

  • AggieAir UAS Platform

  • OSAM-Paparazzi Interface Design for IMU Integration

  • AggieAir UAS Test Protocol and Tuning

  • Typical Platforms and Flight Test Results

  • Chapter Summary

  • References

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    Attitude Estimation Using Low-Cost IMUs for Small Unmanned Aerial Vehicles

    Remote Sensing and Actuation Using Unmanned Vehicles
    Copyright Year: 2012

    Wiley-IEEE Press eBook Chapters

    This chapter contains sections titled:

  • State Estimation Problem Definition

  • Rigid Body Rotations Basics

  • Low-Cost Inertial Measurement Units: Hardware and Sensor Suites

  • Attitude Estimation Using Complementary Filters on SO(3)

  • Attitude Estimation Using Extended Kalman Filters

  • AggieEKF: GPS-Aided Extended Kalman Filter

  • Chapter Summary

  • References

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    Lateral Channel Fractional Order Flight Controller Design for a Small UAV

    Remote Sensing and Actuation Using Unmanned Vehicles
    Copyright Year: 2012

    Wiley-IEEE Press eBook Chapters

    This chapter contains sections titled:

  • Introduction

  • Preliminaries of UAV Flight Control

  • Roll-Channel System Identification and Control

  • Fractional Order Controller Design

  • Simulation Results

  • UAV Flight Testing Results

  • Chapter Summary

  • References

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    Remote Sensing Using Single Unmanned Aerial Vehicle

    Remote Sensing and Actuation Using Unmanned Vehicles
    Copyright Year: 2012

    Wiley-IEEE Press eBook Chapters

    This chapter contains sections titled:

  • Motivations for Remote Sensing

  • Remote Sensing Using Small UAVs

  • Sample Applications for AggieAir UAS

  • Chapter Summary

  • References

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    Cooperative Remote Sensing Using Multiple Unmanned Vehicles

    Remote Sensing and Actuation Using Unmanned Vehicles
    Copyright Year: 2012

    Wiley-IEEE Press eBook Chapters

    This chapter contains sections titled:

  • Consensus-Based Formation Control

  • Surface Wind Profile Measurement Using Multiple UAVs

  • Chapter Summary

  • References

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    Diffusion Control Using Mobile Sensor and Actuator Networks

    Remote Sensing and Actuation Using Unmanned Vehicles
    Copyright Year: 2012

    Wiley-IEEE Press eBook Chapters

    This chapter contains sections titled:

  • Motivation and Background

  • Mathematical Modeling and Problem Formulation

  • CVT-Based Dynamical Actuator Motion Scheduling Algorithm

  • Grouping Effect in CVT-Based Diffusion Control

  • Information Consensus in CVT-Based Diffusion Control

  • Simulation Results

  • Chapter Summary

  • References

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    Conclusions and Future Research Suggestions

    Remote Sensing and Actuation Using Unmanned Vehicles
    Copyright Year: 2012

    Wiley-IEEE Press eBook Chapters

    This chapter contains sections titled:

  • Conclusions

  • Future Research Suggestions

  • References

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    Appendix

    Remote Sensing and Actuation Using Unmanned Vehicles
    Page(s): 171 - 196
    Copyright Year: 2012

    Wiley-IEEE Press eBook Chapters

    This appendix contains sections titled:
    List of Documents for CSOIS Flight Test Protocol
    IMU/GPS Serial Communication Protocols
    Paparazzi Autopilot Software Architecture: A Modification Guide
    DiffMas2D Code Modification Guide
    References View full abstract»

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    Topic Index

    Remote Sensing and Actuation Using Unmanned Vehicles
    Page(s): 197 - 198
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    IEEE Press Series on Systems Science and Engineering

    Remote Sensing and Actuation Using Unmanned Vehicles
    Page(s): 199
    Copyright Year: 2012

    Wiley-IEEE Press eBook Chapters

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