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Journal articles on the topic 'Waypoint tracking'

Author: Grafiati

Published: 11 November 2022

Last updated: 28 July 2025

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1

Kang, Cheongwoong, Bumjin Park, and Jaesik Choi. "Scheduling PID Attitude and Position Control Frequencies for Time-Optimal Quadrotor Waypoint Tracking under Unknown External Disturbances." Sensors 22, no. 1 (2021): 150. http://dx.doi.org/10.3390/s22010150.

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Recently, the use of quadrotors has increased in numerous applications, such as agriculture, rescue, transportation, inspection, and localization. Time-optimal quadrotor waypoint tracking is defined as controlling quadrotors to follow the given waypoints as quickly as possible. Although PID control is widely used for quadrotor control, it is not adaptable to environmental changes, such as various trajectories and dynamic external disturbances. In this work, we discover that adjusting PID control frequencies is necessary for adapting to environmental changes by showing that the optimal control

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2

Ichihara, Kaito, Tadahiro Hasegawa, Shin’ichi Yuta, Hirohisa Ichikawa, and Yoshihide Naruse. "Waypoint-Based Human-Tracking Navigation for Museum Guide Robot." Journal of Robotics and Mechatronics 34, no. 5 (2022): 1192–204. http://dx.doi.org/10.20965/jrm.2022.p1192.

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A visitor-following method that guides visitors as they move around was successfully developed without changing the structure of the waypoint navigation system. We previously developed a guidance robot, “EM-Ro,” to provide guidance services at the ECO35 Muffler Museum, and used the waypoint navigation system to implement a visitor-escort method along a predetermined route. With this visitor-following method, EM-Ro was able to follow a target visitor along visitor-derived waypoints, which were estimated using 2D LiDAR. Thus, the proposed navigation system for the guidance robot provides both vi

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3

Gao, Mengjing, Tian Yan, Wenxing Fu, Zhenfei Feng, and Hang Guo. "Automated Flight Technology for Integral Path Planning and Trajectory Tracking of the UAV." Drones 8, no. 1 (2023): 9. http://dx.doi.org/10.3390/drones8010009.

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In view of the problem that path planning and trajectory tracking are rarely solved simultaneously in the current research, which hinders their practical implementation, this paper focuses on enhancing the autonomous flight planning capability of unmanned aerial vehicles (UAVs) by investigating integrated path planning and trajectory tracking technologies. The autonomous flight process is divided into two sub-problems: waypoint designing/optimizing and waypoint tracking. Firstly, an improved DB-RRT* algorithm is proposed for waypoint planning to make the algorithm have higher planning efficien

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4

Lobo, Shawn. "Waypoint Based GPS Tracking." International Journal for Research in Applied Science and Engineering Technology 6, no. 3 (2018): 2264–66. http://dx.doi.org/10.22214/ijraset.2018.3525.

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5

Mathur, Akshay, and Ella Atkins. "Multi-Mode Flight Simulation and Energy-Aware Coverage Path Planning for a Lift+Cruise QuadPlane." Drones 9, no. 4 (2025): 287. https://doi.org/10.3390/drones9040287.

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This paper describes flight planning supported by modeling, guidance, and feedback control for an electric Vertical Take-Off and Landing (eVTOL) QuadPlane small Uncrewed Aircraft System (sUAS). Five Lift+Cruise sUAS waypoint types are defined and used to construct smooth flight path geometries and acceleration profiles. Novel accelerated coverage flight plan segments for hover (Lift) and coverage (Cruise) waypoint types are defined as a complement to traditional fly-over, fly-by, and Dubins path waypoint transit solutions. Carrot-chasing guidance shows a tradeoff between tracking accuracy and

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Suparta, W., A. Basuki, and M. Arsyad. "The development of quadcopter using Arducopter APM 2.8 with autopilot for tracking point of drop-off goods." IOP Conference Series: Earth and Environmental Science 1151, no. 1 (2023): 012032. http://dx.doi.org/10.1088/1755-1315/1151/1/012032.

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Abstract This research reported the development of a drone withinside the shape of a quadrotor to track positions over a certain geographic area on autopilot. The system includes an Ardupilot Mega (APM) 2.8 flight controller, Ublox NEO M8N GPS module with compass, Racerstar 920kV 2-4S Brushless Motor, Flysky Receiver FS-iA6B with FS-i6 Remote Control Transmitter, DJI F450 quadcopter frame kits with touchdown tools skid, and a LiPo Battery 3300 mAh 35C. The ground control system is set up and run through an open-source software so-known as Mission Planner. The tracking system is evolved as a pa

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Gutiérrez, Rodrigo, Elena López-Guillén, Luis M. Bergasa, et al. "A Waypoint Tracking Controller for Autonomous Road Vehicles Using ROS Framework." Sensors 20, no. 14 (2020): 4062. http://dx.doi.org/10.3390/s20144062.

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Automated Driving Systems (ADSs) require robust and scalable control systems in order to achieve a safe, efficient and comfortable driving experience. Most global planners for autonomous vehicles provide as output a sequence of waypoints to be followed. This paper proposes a modular and scalable waypoint tracking controller for Robot Operating System (ROS)-based autonomous guided vehicles. The proposed controller performs a smooth interpolation of the waypoints and uses optimal control techniques to ensure robust trajectory tracking even at high speeds in urban environments (up to 50 km/h). Th

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8

AL TAHTAWI, ADNAN RAFI, ERICK ANDIKA, MAULANA YUSUF, and WILDAN NURFAUZAN HARJANTO. "Pengembangan Low-cost Quadrotor dengan Misi Waypoint Tracking Berbasis Pengendali PID." ELKOMIKA: Jurnal Teknik Energi Elektrik, Teknik Telekomunikasi, & Teknik Elektronika 8, no. 1 (2020): 189. http://dx.doi.org/10.26760/elkomika.v8i1.189.

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ABSTRAK  Quadrotor merupakan salah satu jenis pesawat tanpa awak yang dapat bekerja secara autonomous dalam melaksanakan tugasnya. Beberapa quadrotor komersial yang dapat bekerja secara autonomous memiliki harga yang relatif mahal. Penelitian ini bertujuan untuk merancang dan mengembangkan sebuah quadrotor berbiaya rendah dengan misi waypoint tracking berbasis pengendali PID. Quadrotor dirancang menggunakan modul Ardupilot Mega 2.6 sebagai pengendali terbang. Modul ini cocok digunakan untuk pengembangan sebuah quadrotor berbiaya rendah karena telah terintegrasi dengan sebuah antarm

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9

Zaman, Bakht, Dusica Marijan, and Tetyana Kholodna. "Interpolation-Based Inference of Vessel Trajectory Waypoints from Sparse AIS Data in Maritime." Journal of Marine Science and Engineering 11, no. 3 (2023): 615. http://dx.doi.org/10.3390/jmse11030615.

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The availability of automatic identification system (AIS) data for tracking vessels has paved the way for improvements in maritime safety and efficiency. However, one of the main challenges in using AIS data is often the low quality of the data. Practically, AIS-based trajectory data of vessels are available at irregular time intervals; consequently, large temporal gaps often exist in the historical AIS data. Meanwhile, certain tasks such as waypoint detection using historical data, which involves finding locations along the trajectory where the vessel changes its course (and possibly speed, a

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10

MISIR, Oğuz, Muhammed ÇELİK, and Levent GÖKREM. "Waypoint-Based Path Tracking Approach For Self-Organized Swarm Robots." Uluslararası Muhendislik Arastirma ve Gelistirme Dergisi 14, no. 2 (2022): 799–815. http://dx.doi.org/10.29137/umagd.1118039.

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In this paper, a waypoint-based path tracking approach is suggested for the swarm robots to follow the desired path in an organized way. In the study, the applicability of the waypoint-based path tracking on the swarm robots that show flexible and scalable behavior has been demonstrated. To evaluate the proposed path planing approach with regard to scalability and flexibility, simulations have been applied in with/without obstacle arenas with different numbers of robots and according to different lookahead distances. With the proposed approach, each swarm robots exhibit swarm behavior in an or

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11

Xu, Chengtao, Kai Zhang, Yushan Jiang, Shuteng Niu, Thomas Yang, and Houbing Song. "Communication Aware UAV Swarm Surveillance Based on Hierarchical Architecture." Drones 5, no. 2 (2021): 33. http://dx.doi.org/10.3390/drones5020033.

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Multi-agent unmanned aerial vehicle (UAV) teaming becomes an essential part in science mission, modern warfare surveillance, and disaster rescuing. This paper proposes a decentralized UAV swarm persistent monitoring strategy in realizing continuous sensing coverage and network service. A two-layer (high altitude and low altitude) UAV teaming hierarchical structure is adopted in realizing the accurate object tracking in the area of interest (AOI). By introducing the UAV communication channel model in its path planning, both centralized and decentralized control schemes would be evaluated in the

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12

Capello, Elisa, Giorgio Guglieri, and Gianluca Ristorto. "Guidance and control algorithms for mini UAV autopilots." Aircraft Engineering and Aerospace Technology 89, no. 1 (2017): 133–44. http://dx.doi.org/10.1108/aeat-10-2014-0161.

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Purpose The aim of this paper is the implementation and validation of control and guidance algorithms for unmanned aerial vehicle (UAV) autopilots. Design/methodology/approach The path-following control of the UAV can be separated into different layers: inner loop for pitch and roll attitude control, outer loop on heading, altitude and airspeed control for the waypoints tracking and waypoint navigation. Two control laws are defined: one based on proportional integrative derivative (PID) controllers both for inner and outer loops and one based on the combination of PIDs and an adaptive controll

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13

Ghofur M., Abdul, Yudhi Darmawan, and Muhammad Ridwan. "The Design And Build of Telemetry system Portable Ground Control Station (GCS) as Control and Monitoring on Unmanned Aerial Vehicle (UAV) Aircraft Galak-24." Jurnal Telkommil 2, Oktober (2020): 37–46. http://dx.doi.org/10.54317/kom.v2ioktober.180.

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Abstract – Ground Control Station (GCS) is a very important part in controlling and monitoring UAV aircraft as well as monitoring a mission so that operators at the home base can send mission orders. The importance of this mission requires a system in this case, namely the GCS that can be connected to various types of unmanned vehicles. This study develops a GCS system that is used for controlling and monitoring the condition of UAV aircraft and sending waypoint tracking mission commands that are connected to a cloud server via the internet. This system consists of two units, namely the flight

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14

Sun, Wenli, and Xu Gao. "Deep Learning-Based Trajectory Tracking Control forUnmanned Surface Vehicle." Mathematical Problems in Engineering 2021 (January 6, 2021): 1–22. http://dx.doi.org/10.1155/2021/8926738.

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Trajectory tracking control based on waypoint behavior is a promising way for unmanned surface vehicle (USV) to achieve autonomous navigation. This study is aimed at the guidance progress in the kinematics; the artificial intelligence method of deep learning is adopted to improve the trajectory tracking level of USV. First, two deep neural network (DNN) models are constructed to evaluate navigation effects and to estimate guidance law parameters in real time, respectively. We then pretrain the DNN using a Gaussian–Bernoulli restricted Boltzmann machine to further improve the accuracy of predic

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15

Sun, Wenli, and Xu Gao. "Deep Learning-Based Trajectory Tracking Control forUnmanned Surface Vehicle." Mathematical Problems in Engineering 2021 (January 6, 2021): 1–22. http://dx.doi.org/10.1155/2021/8926738.

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Trajectory tracking control based on waypoint behavior is a promising way for unmanned surface vehicle (USV) to achieve autonomous navigation. This study is aimed at the guidance progress in the kinematics; the artificial intelligence method of deep learning is adopted to improve the trajectory tracking level of USV. First, two deep neural network (DNN) models are constructed to evaluate navigation effects and to estimate guidance law parameters in real time, respectively. We then pretrain the DNN using a Gaussian–Bernoulli restricted Boltzmann machine to further improve the accuracy of predic

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16

Oland, Espen, Rune Schlanbusch, and Raymond Kristiansen. "Underactuated Waypoint Tracking of a Fixed-Wing UAV*." IFAC Proceedings Volumes 46, no. 30 (2013): 126–33. http://dx.doi.org/10.3182/20131120-3-fr-4045.00007.

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17

Yamagata, Hirokazu, Shuma Kochii, Hiroshi Yoshida, Yoshifumi Nogi, and Toshihiro Maki. "Development of AUV MONACA - Hover-Capable Platform for Detailed Observation Under Ice –." Journal of Robotics and Mechatronics 33, no. 6 (2021): 1223–33. http://dx.doi.org/10.20965/jrm.2021.p1223.

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The melting of ice and changes in ocean currents in Antarctica must be investigated to understand global climate change. In this regard, the volume changes of sea ice and ice shelves, bathymetry, and ocean currents in the Antarctic Ocean must be measured in three dimensions. Therefore, the use of autonomous underwater vehicles (AUVs), which can directly observe under ice, is being considered. The authors developed an AUV named Mobility Oriented Nadir AntarctiC Adventurer (MONACA) to observe sea ice and the lower region of the ice shelf in the Antarctic Ocean. Herein, we describe MONACA and its

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18

Yuan, Jian, Hailin Liu, and Wenxia Zhang. "Waypoint Tracking Control for Autonomous Mobile Sampling and Dissolved Oxygen Enrichment of Unmanned Surface Vehicle." Journal of Robotics 2022 (March 31, 2022): 1–10. http://dx.doi.org/10.1155/2022/3652329.

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An autonomous monitoring and control system of unmanned surface vehicle (USV) with mobile water quality monitoring, sampling, and oxygenation functions is constructed. The control hardware and monitoring configuration software of the system is designed, respectively, which can be installed on USV and its remote control and monitoring terminal. The kinematic modeling of USV, waypoint trajectory-tracking control, distributed controller, simulation of tracking control, and verification of software and hardware design are carried out. In order to reject the system noise and external noise, a state

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19

Li, Z., T. Yang, and Z. Feng. "Re-entry guidance method based on decoupling control variables and waypoint." Aeronautical Journal 123, no. 1262 (2019): 523–35. http://dx.doi.org/10.1017/aer.2019.4.

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ABSTRACTGenerally, earth rotating and non-spherical perturbation of the earth in re-entry motion model are simplified using the standard trajectory guidance method. The re-entry motion is also simplified to horizontal motion and vertical motion and controlled, respectively. The simplification of re-entry motion model will lead to loss of motion accuracy and location accuracy. The direct decomposition will lead to the reduction of control accuracy because the horizontal motion and the vertical motion are coupled in re-entry. To improve the standard trajectory guidance method, the standard traje

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20

Guo, Jenhwa. "A waypoint-tracking controller for a biomimetic autonomous underwater vehicle." Ocean Engineering 33, no. 17-18 (2006): 2369–80. http://dx.doi.org/10.1016/j.oceaneng.2005.11.012.

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21

Raval, Suraj, Anuruddha Bhattacharjee, Xinhao Chen, Lamar Mair, Axel Krieger, and Yancy Diaz-Mercado. "Singularity-Free Approximate Waypoint Tracking Controller for Underactuated Magnetic Robots." IFAC-PapersOnLine 58, no. 28 (2024): 1079–84. https://doi.org/10.1016/j.ifacol.2025.01.140.

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22

Muda, Nur Rachman Supadmana, and Yossy Tamara Putra. "The Autonomous Fixed-Wing Drone Version YTP16 (Yaw-Tracking-Path) and 17 Map Way Points to Support Unit Operations Tasks." CENDEKIA : Jurnal Penelitian dan Pengkajian Ilmiah 2, no. 3 (2025): 516–33. https://doi.org/10.62335/cendekia.v2i3.1104.

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Autonomous-based fixed-wing drones have become an important solution in a variety of applications, such as mapping, surveillance, and logistics, due to their energy efficiency and wider range. This study aims to design and test the performance of an autonomous fixed-wing drone that is able to follow 16 waypoints with high precision using the YTP16 (Yaw-Tracking-Path) algorithm and 17 map waypoints. The methods used include the design of the control system, the integration of GPS and IMU sensors, and field testing in 10 experiments. The YTP16 algorithm is designed to minimize path deviation by

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23

Bhounsule, Pranav A., and Chun-Ming Yang. "A Simple Controller for Omnidirectional Trotting of Quadrupedal Robots: Command Following and Waypoint Tracking." Robotics 12, no. 2 (2023): 35. http://dx.doi.org/10.3390/robotics12020035.

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For autonomous legged robots to be deployed in practical scenarios, they need to perform perception, motion planning, and locomotion control. Since robots have limited computing capabilities, it is important to realize locomotion control with simple controllers that have modest calculations. The goal of this paper is to create computational simple controllers for locomotion control that can free up computational resources for more demanding computational tasks, such as perception and motion planning. The controller consists of a leg scheduler for sequencing a trot gait with a fixed step time;

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Son, Nam-Sun, and Hyeon-Kyu Yoon. "Study on a Waypoint Tracking Algorithm for Unmanned Surface Vehicle (USV)." Journal of Korean navigation and port research 33, no. 1 (2009): 35–41. http://dx.doi.org/10.5394/kinpr.2009.33.1.035.

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Muralidharan, Vijay, and Arun D. Mahindrakar. "Position Stabilization and Waypoint Tracking Control of Mobile Inverted Pendulum Robot." IEEE Transactions on Control Systems Technology 22, no. 6 (2014): 2360–67. http://dx.doi.org/10.1109/tcst.2014.2300171.

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26

Jeong, Junho, Seungkeun Kim, and Jinyoung Suk. "Control System Design for a Ducted-Fan Unmanned Aerial Vehicle Using Linear Quadratic Tracker." International Journal of Aerospace Engineering 2015 (2015): 1–12. http://dx.doi.org/10.1155/2015/364926.

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Tracking control system based on linear quadratic (LQ) tracker is designed for a ducted-fan unmanned aerial vehicle (UAV) under full flight envelope including hover, transition, and cruise modes. To design the LQ tracker, a system matrix is augmented with a tracking error term. Then the control input can be calculated to solve a single Riccati equation, but the steady-state errors might still remain in this control system. In order to reduce the steady-state errors, a linear quadratic tracker with integrator (LQTI) is designed to add an integral term of tracking state in the state vector. Then

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Nyangaresi, Vincent Omollo, Silvance O. Abeka, and Anthony J. Rodrigues. "Tracking Area Boundary-aware Protocol for Pseudo Stochastic Mobility Prediction in LTE Networks." International Journal of Information Technology and Computer Science 12, no. 5 (2020): 52–62. http://dx.doi.org/10.5815/ijitcs.2020.05.04.

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Accurate mobility prediction enables efficient and faster paging services in these networks. This in turn facilitates the attainment of higher bandwidths and execution of activities such as handovers at low latencies. The conventional mobility prediction models operate on unrealistic assumptions that make them unsuitable for cellular network mobile station tracking. For instance, the Feynman-Verlet, first order kinetic model and Random Waypoint assume that mobile phones move with constant velocity while Manhattan, Freeway, city area, street unit, obstacle mobility, and pathway mobility postula

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Algarín-Pinto, Juan Antonio, Luis E. Garza-Castañón, Adriana Vargas-Martínez, and Luis I. Minchala-Ávila. "Modeling, Trajectory Analysis and Waypoint Guidance System of a Biomimetic Underwater Vehicle Based on the Flapping Performance of Its Propulsion System." Electronics 11, no. 4 (2022): 544. http://dx.doi.org/10.3390/electronics11040544.

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The performance of biomimetic underwater vehicles directly depends on the correct design of their propulsion system and its control. These vehicles can attain highly efficient motion, hovering and thrust by properly moving part(s) of their bodies. In this article, a mathematical modeling and waypoint guidance system for a biomimetic autonomous underwater vehicle (BAUV) is proposed. The BAUV achieves sideways and dorsoventral thunniform motion by flapping its caudal fin through a parallel mechanism. Also, an analysis of the vehicle’s design is presented. A thrust analysis was performed based on

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Wang, Rui, Yu Wang, Shuo Wang, Chong Tang, and Min Tan. "Switching Control for 3-D Waypoint Tracking of a Biomimetic Underwater Vehicle." International Journal of Offshore and Polar Engineering 28, no. 3 (2018): 255–62. http://dx.doi.org/10.17736/ijope.2018.mt22.

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Kim, Do Wan, Moon Hwan Kim, Ho-Gyu Park, and Tae-Yeong Kim. "Waypoint Tracking of Large Diameter Unmanned Underwater Vehicles with X-stern Configuration." Transactions of The Korean Institute of Electrical Engineers 66, no. 2 (2017): 387–93. http://dx.doi.org/10.5370/kiee.2017.66.2.387.

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Rudy Agus Gemilang Gultom, Syachrul Arief, and Muhammad Hanifudin Al Fadli. "Design of a weaponized drone munitions system with a bomb simulation using PVC material." Journal of Military Science and Technology 91 (November 25, 2023): 73–84. http://dx.doi.org/10.54939/1859-1043.j.mst.91.2023.73-84.

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The advancement of drone technology in the 21st century has experienced tremendous progress. Drones are now utilized not only for military purposes but also in commercial applications, featuring sophisticated systems such as waypoint navigation and automatic camera tracking, and even as a tool for teaching natural sciences to students. The objective of this research is to design a multifunctional armed drone system capable of performing various tasks, such as mapping, reconnaissance, and attack. The outcome of this research is a prototype of an armed drone based on the DJI Matrice 600, equippe

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Pebrianti, Dwi, WeiWang, Daisuke Iwakura, Yuze Song, and Kenzo Nonami. "Sliding Mode Controller for Stereo Vision Based Autonomous Flight of Quad-Rotor M." Journal of Robotics and Mechatronics 23, no. 1 (2011): 137–48. http://dx.doi.org/10.20965/jrm.2011.p0137.

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We have investigated the possibility of a Sliding Mode Controller (SMC) for autonomous hovering and waypoint of a quad-rotor Micro Aerial Vehicle (MAV) based on an on ground stereo vision system. The object tracking used here is running average background subtraction. Among the background subtraction algorithms for object tracking, running average is known to have the fastest processing speed and the lowest memory requirement. Stereo vision system is known to have a good performance in measuring the distance from camera to object without any information regarding the object geometry in advance

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Bai, Ye, and Srikanth Gururajan. "Evaluation of a Baseline Controller for Autonomous “Figure-8” Flights of a Morphing Geometry Quadcopter: Flight Performance." Drones 3, no. 3 (2019): 70. http://dx.doi.org/10.3390/drones3030070.

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This article describes the design, fabrication, and flight test evaluation of a morphing geometry quadcopter capable of changing its intersection angle in-flight. The experiments were conducted at the Aircraft Computational and Resource Aware Fault Tolerance (AirCRAFT) Lab, Parks College of Engineering, Aviation and Technology at Saint Louis University, St. Louis, MO. The flight test matrix included flights in a “Figure-8” trajectory in two different morphing configurations (21° and 27°), as well as the nominal geometry configuration, two different flight velocities (1.5 m/s and 2.5 m/s), two

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Kim, Do Wan, Jeong-Hoon Park, Ho-Gyu Park, and Tae-Yeong Kim. "Robust Waypoint Tracking of Large Diameter Unmanned Underwater Vehicles with Uncertain Hydrodynamic Coefficients." Transactions of The Korean Institute of Electrical Engineers 66, no. 2 (2017): 409–15. http://dx.doi.org/10.5370/kiee.2017.66.2.409.

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Cai, Wenjing, Jinhua She, Min Wu, and Yasuhiro Ohyama. "Quadrotor waypoint-tracking control under exogenous disturbances based on equivalent-input-disturbance approach." Journal of the Franklin Institute 357, no. 8 (2020): 4709–41. http://dx.doi.org/10.1016/j.jfranklin.2020.02.014.

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Sola, Yoann, Gilles Le Chenadec, and Benoit Clement. "Simultaneous Control and Guidance of an AUV Based on Soft Actor–Critic." Sensors 22, no. 16 (2022): 6072. http://dx.doi.org/10.3390/s22166072.

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The marine environment is a hostile setting for robotics. It is strongly unstructured, uncertain, and includes many external disturbances that cannot be easily predicted or modeled. In this work, we attempt to control an autonomous underwater vehicle (AUV) to perform a waypoint tracking task, using a machine learning-based controller. There has been great progress in machine learning (in many different domains) in recent years; in the subfield of deep reinforcement learning, several algorithms suitable for the continuous control of dynamical systems have been designed. We implemented the soft

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Pazderski, Dariusz. "Waypoint Following for Differentially Driven Wheeled Robots with Limited Velocity Perturbations." Journal of Intelligent & Robotic Systems 85, no. 3-4 (2016): 553–75. http://dx.doi.org/10.1007/s10846-016-0391-7.

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AbstractIn this paper a unified motion control strategy dedicated for the waypoint following task realized by a differentially driven robot is presented. It is assumed that the vehicle moves with limited velocities and accelerations in order to reduce excessive slip and skid effects. In order to include operational constraints, a motion planner is combined with a universal stabilizer taking advantage of transverse functions. To improve tracking precision translated transverse functions are deployed and a new adaptive technique for the controller tuning is proposed. During the motion planning s

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Tran, Huu Khoa, and Thanh Nam Nguyen. "Flight Motion Controller Design using Genetic Algorithm for a Quadcopter." Measurement and Control 51, no. 3-4 (2018): 59–64. http://dx.doi.org/10.1177/0020294018768744.

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In this study, the Genetic Algorithm operability is assigned to optimize the proportional–integral–derivative controller parameters for both simulation and real-time operation of quadcopter flight motion. The optimized proportional–integral–derivative gains, using Genetic Algorithm to minimum the fitness function via the integral of time multiplied by absolute error criterion, are then integrated to control the quadcopter flight motion. In addition, the proposed controller design is successfully implemented to the experimental real-time flight motion. The performance results are proven that th

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Chen, Yung-Yue, Chun-Yen Lee, Shao-Han Tseng, and Wei-Min Hu. "Nonlinear Optimal Control Law of Autonomous Unmanned Surface Vessels." Applied Sciences 10, no. 5 (2020): 1686. http://dx.doi.org/10.3390/app10051686.

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For energy conservation, nonlinear-optimal-control-law design for marine surface vessels has become a crucial ocean technology for the current ship industry. A well-controlled marine surface vessel with optimal properties must possess accurate tracking capability for accomplishing sailing missions. To achieve this design target, a closed-form nonlinear optimal control law for the trajectory- and waypoint-tracking problem of autonomous marine surface vessels (AUSVs) is presented in this investigation. The proposed approach, based on the optimal control concept, can be effectively applied to gen

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Dong, Yuqin, Nailong Wu, Jie Qi, Xinyuan Chen, and Chenhua Hua. "Predictive Course Control and Guidance of Autonomous Unmanned Sailboat Based on Efficient Sampled Gaussian Process." Journal of Marine Science and Engineering 9, no. 12 (2021): 1420. http://dx.doi.org/10.3390/jmse9121420.

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In view of the vulnerability of ocean unmanned sailboats to the large lateral velocities due to wind and waves during navigation, this paper proposes a Gaussian Process Model Predictive Control (GPMPC) method based on data-driven learning technique to improve the navigation tracking accuracy of unmanned sailboats. The feature model of the sailing course change subject to the wind and waves is learned from the efficient sampling data. It is then combined with the model predictive control to form the course controller. To reduce the influence of wind and waves disturbances, an adaptive weight te

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Bi, Shusheng, Chuanmeng Niu, Yueri Cai, Lige Zhang, and Houxiang Zhang. "A waypoint-tracking controller for a bionic autonomous underwater vehicle with two pectoral fins." Advanced Robotics 28, no. 10 (2014): 673–81. http://dx.doi.org/10.1080/01691864.2014.888373.

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Han, Dong-in, Jong-hun Kim, Chan-oh Min, Sung-jin Jo, Jeong-ho Kim, and Dae-woo Lee. "Development of Unmanned Aerial Vehicle (UAV) system with waypoint tracking and vision-based reconnaissance." International Journal of Control, Automation and Systems 8, no. 5 (2010): 1091–99. http://dx.doi.org/10.1007/s12555-010-0518-8.

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Giuseppi, Alessandro, Roberto Germanà, Federico Fiorini, Francesco Delli Priscoli, and Antonio Pietrabissa. "UAV Patrolling for Wildfire Monitoring by a Dynamic Voronoi Tessellation on Satellite Data." Drones 5, no. 4 (2021): 130. http://dx.doi.org/10.3390/drones5040130.

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Fire monitoring and early detection are critical tasks in which Unmanned Aerial Vehicles (UAVs) are commonly employed. This paper presents a system to plan the drone patrolling schedule according to a real-time estimation of a fire propagation index that is derived from satellite data, such as the Normalized Difference Vegetation Index (NDVI) measurement and the Digital Elevation Model (DEM) of the surveilled area. The proposed system employs a waypoint scheduling logic, derived from a dynamic Voronoi Tessellation of the area, that combines characteristics of the territory (e.g., vegetation de

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Panetsos, Fotis, Panagiotis Rousseas, George Karras, Charalampos Bechlioulis, and Kostas J. Kyriakopoulos. "A Vision-Based Motion Control Framework for Water Quality Monitoring Using an Unmanned Aerial Vehicle." Sustainability 14, no. 11 (2022): 6502. http://dx.doi.org/10.3390/su14116502.

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In this paper, we present a vision-aided motion planning and control framework for the efficient monitoring and surveillance of water surfaces using an Unmanned Aerial Vehicle (UAV). The ultimate goal of the proposed strategy is to equip the UAV with the necessary autonomy and decision-making capabilities to support First Responders during emergency water contamination incidents. Toward this direction, we propose an end-to-end solution, based on which the First Responder indicates visiting and landing waypoints, while the envisioned strategy is responsible for the safe and autonomous navigatio

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Alsayed, Ahmad, Fatemeh Bana, Farshad Arvin, Mark K. Quinn, and Mostafa R. A. Nabawy. "Experimental Evaluation of Multi- and Single-Drone Systems with 1D LiDAR Sensors for Stockpile Volume Estimation." Aerospace 12, no. 3 (2025): 189. https://doi.org/10.3390/aerospace12030189.

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This study examines the application of low-cost 1D LiDAR sensors in drone-based stockpile volume estimation, with a focus on indoor environments. Three approaches were experimentally investigated: (i) a multi-drone system equipped with static, downward-facing 1D LiDAR sensors combined with an adaptive formation control algorithm; (ii) a single drone with a static, downward-facing 1D LiDAR following a zigzag trajectory; and (iii) a single drone with an actuated 1D LiDAR in an oscillatory fashion to enhance scanning coverage while following a shorter trajectory. The adaptive formation control al

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Kikutis, Ramūnas, Jonas Stankūnas, and Darius Rudinskas. "AUTONOMOUS UNMANNED AERIAL VEHICLE FLIGHT ACCURACY EVALUATION FOR THREE DIFFERENT PATH-TRACKING ALGORITHMS." Transport 34, no. 6 (2019): 652–61. http://dx.doi.org/10.3846/transport.2019.11741.

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This paper shows mathematical results of three methods, which can be used for Unmanned Aerial Vehicle (UAV) to make transition from one flight leg to another. In paper, we present general equations, which can be used for generating waypoint-switching methods when for experiment purpose mathematical UAV model is used. UAV is modelled as moving dot, which eliminates all of the aerodynamics factors and we can concentrate only on the navigation problems. Lots of attention is dedicated to show possible flight path error values with representation of modelled flight path trajectories and deviations

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Oktaf Agni Dhewa, Tri Kuntoro Priyambodo, Aris Nasuha, and Yasir Mohd Mustofa. "ENHANCEMENT OF STABILITY ON AUTONOMOUS WAYPOINT MISSION OF QUADROTOR USING LQR INTEGRATOR CONTROL." IIUM Engineering Journal 23, no. 1 (2022): 129–58. http://dx.doi.org/10.31436/iiumej.v23i1.1803.

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The ability of the quadrotor in the waypoint trajectory tracking becomes an essential requirement in the completion of various missions nowadays. However, the magnitude of steady-state errors and multiple overshoots due to environmental disturbances leads to motion instability. These conditions make the quadrotor experience a shift and even change direction from the reference path. As a result, to minimize steady-state error and multiple overshoots, this study employs a Linear Quadratic Regulator control method with the addition of an Integrator. Comparisons between LQR without Integrator and

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FARID, Ghulam, Haris TAHIR HAMID, Shahid KARIM, and Sohaib TAHIR. "Waypoint-Based Generation of Guided and Optimal Trajectories for Autonomous Tracking Using a Quadrotor UAV." Studies in Informatics and Control 27, no. 2 (2019): 223–34. http://dx.doi.org/10.24846/v27i2y201810.

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Li, Xinfei, Zhongyu Jin, and Lihui Wang. "A Systematic Pipelaying Control Method Based on the Sliding Matrix for Dynamically Positioned Surface Vessels." Journal of Sensors 2022 (January 25, 2022): 1–16. http://dx.doi.org/10.1155/2022/9702532.

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A pipelaying control method is presented in this paper which includes path planning, path guidance, and path tracking controller for dynamically positioned (DP) surface vessels based on the characteristics of the predefined path in marine pipelaying operation. The pipelaying control method depends on path coding, path selection logic system, and a sliding matrix. The sliding matrix contains a vessel local path and its specified control requirements, which can be updated by sliding down the waypoint table line by line as the vessel is traveling from one path to the next. A line of sight (LOS) a

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Ansyori, Ade Firli, and Anton Yudhana. "Implementasi Waypoint Menggunakan GPS pada UAV untuk Mendapatkan Akurasi Terbaik dengan Pengontrol PID." Buletin Ilmiah Sarjana Teknik Elektro 3, no. 3 (2022): 210–20. http://dx.doi.org/10.12928/biste.v3i3.4851.

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Unmanned Aerial Vehicles (UAV) is an unmanned aerial vehicle from a technical point of view, a UAV can be defined as an aircraft equipped with the necessary data processing units, sensors, automatic control, and communication systems, and capable of performing autonomous flight missions without manual intervention. This research is a research development and testing of the capabilities of fixed-wing aircraft, on flight missions, fixed-wing aircraft are often less precise so the accuracy of UAV flights is very influential in the intended coordinate mission in determining flight accuracy by foll

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