AN UNMANNED AERIAL VEHICLE CONTROLLER BASED ON A LEARNING FUZZY CLASSIFIER SYSTEM by YAN QU (Under the Direction of Walter D. Potter) ABSTRACT Autonomous Unmanned Aerial Vehicle (UAVs) have been increasingly employed by researchers, commercial organizations and the military to perform a variety of missions. This thesis discusses the design of an autonomous controller using a Learning Fuzzy Clas...

This paper focuses on a critical component of the situational awareness (SA), the control of autonomous vertical flight for tactical unmanned aerial vehicle (TUAV). With the SA strategy, we proposed a two stage flight control procedure using two autonomous control subsystems to address the dynamics variation and performance requirement difference in initial and final stages of flight trajectory...

COMPENSATION FOR A SMALL UNMANNED HELICOPTER Alexander Bogdanov , Eric Wan OGI School of Science and Engineering, OHSU 20000 NW Walker Rd, Beaverton, Oregon 97006 In this paper we report on the state-dependent Riccati equation (SDRE) control of a small unmanned helicopter for autonomous agile maneuvering. SDRE control requires reformulation of the vehicle dynamics into a pseudo-linear form. For...

To successfully perform their required tasks, agents require accurate and meaningful communication and integration among other agents and information resources. However, the applications and infrastructure of information technology are rife with heterogeneity at many levels. This paper explores applying formal ontologies to address the challenges faced in developing and applying autonomous agen...

The current trend is toward requiring undersea vehicles, manned and unmanned, remotely operated or autonomous, to perform ever longer, more demanding, and increasingly critical missions. Longer duration Unmanned Underwater Vehicle (UUV) missions will depend on highly reliable control actuation to ensure mission success, survivability of high value payloads, and plausible deniability. This paper...

This paper presents a novel approach to autonomous extinguishing of indoor fires inside building by Micro-scale Unmanned Aerial Vehicle (MAV). In particular, controlling and estimating the MAV state, detection entrance, multi-modal localization during outdoor-indoor transition, interior motion planning exploration, fire position estimation, are discussed. The performance these elements, as well...

the studies in aerial vehicles modeling and control have been increased rapidly recently. in this paper , a coordination of two types of heterogeneous robots , namely unmanned aerial vehicle (uav) and unmanned ground vehicle (ugv) is considered. in this paper the uav plays the role of a virtual leader for the ugvs. the system consists of a vision- based target detection algorithm that uses the ...

There have been several major advances in autonomous navigation for unmanned ground vehicles in controlled urban environments in recent years. However, off-road environments still pose several perception and classification challenges. This paper addresses two of decisions must be made about obstacles in the vehicle’s path. The most common obstacle is vegetation, but some vegetation may be trave...