This paper introduces a vision-based target recognition and positioning system for UAV mobile landing scenarios, addressing challenges such as occlusion due to shadows the loss of field view. A novel image preprocessing technique is proposed, utilizing finite adaptive histogram equalization in HSV color space, enhance detection markers under shadow conditions. The incorporates Kalman filter-based motion state estimation method binocular depth camera height achieve precise positioning. To...

Researches on unmanned aerial vehicle (UAV) formation control are attracting more and researchers' attention. Obstacle avoidance is a key problem of UAV formation. In this paper, an improved artificial potential field (APF) method proposed for solving the with obstacle in complex environment. Point-mass models kinematic constraints have been employed UAVs, autopilots modelled as first-order systems. Structural desired configuration considered design attraction among which ensures convergence...

In the coverage path planning (CPP) problem of an agricultural spraying UAV, a margin reduction algorithm was designed first to address special situations such as ditches and channels within operational terrain. Regarding particularity concave polygon area, based on topology mapping developed judge points with scheduled. For evaluation pesticide mission, flight distance extra ratio were most appropriate optimization objectives. Therefore, this paper selected these two indicators form fitness...

The current common color image encryption algorithms applying “scrambling-diffusion” have some problems, such as the small key space, cumbersome process, and security vulnerability. Aiming at these this paper proposes a new algorithm based on hyperchaotic system “transforming-scrambling-diffusion” model. Before scrambling, in accordance with plaintext itself attributes, number of iterations was calculated, all pixel values were transformed into gray code iteratively, then chaotic sequence...

Trajectory planning of multiple unmanned aerial vehicles (UAVs) is the basis for them to form formation flight. By considering trajectory UAVs in flight three-dimensional space, a method four-dimensional space-time proposed which, firstly, according configuration, adopts Hungarian algorithm optimize task allocation. Based on that, by safety formation, hierarchical decomposition innovatively put forward with spatial positions and time constraints both considered. It applied automatic obstacle...

The multi-agent system is the optimal solution to complex intelligent problems. In accordance with game theory, concept of loyalty introduced analyze relationship between agents' individual income and global benefits build logical architecture system. Besides, verify feasibility method, cyclic neural network optimized, bi-directional coordination built as training for deep learning, specific scenes are simulated background. After a certain number iterations, model can learn simple strategies...

To escape from the local minimum point of traditional artificial potential field method, a variable-step method is proposed. Using sphere-cylinder enveloping collision detection problem detecting can be transformed to position between sphere and cylinder. Then, by modifying functions segment search in joint space, manipulator avoid obstacle reach destination. The simulation results show that proposed effective.

Abstract In order to reduce the threat cost of multi-UAV coordination, improve effective flight time and mission success rate, a path planning model was designed for effectiveness real-time performance track coordination. this paper, based on under condition non-interference, minimum synergy is given, time-sequence-space coordination proposed meet requirements electronic jamming, confusion radar illumination. The decision variables range are introduced into collaborative function cost, by...

The pipeline layout design of nuclear power plant is to find the optimal route meet objectives and constraints in 3D routing space. However, due intensive equipment complex structure plant, various types systems, constraints, a large number pipelines, even for experienced designers, difficult time-consuming task. In order solve problem automatic space method combining Dijkstra algorithm improved A <math xmlns="http://www.w3.org/1998/Math/MathML" id="M1"><msup><mrow /><mi>∗</mi></msup></math>...

Aiming at the problem of UAV automatic decision making in air combat, an algorithm based on Goal Graph Plan is proposed to solve knowledge modeling tactical making. The heuristic field combat rules was introduced help make reasonable maneuvering decision. structure autonomous plan goal graph designed according manned aircraft control model. Simulation experiment task planning 2V1 scenario realized, simulation results show that effective and real-time solving

In the coverage path planning (CPP) problem of agricultural spraying UAV, aiming at special situation such as existence ditches in operating terrain, a margin reduction algorithm is designed first. Regarding particularity concave polygon area, based on topology mapping developed to judge points and with "type 2" scheduled. For evaluation pesticide mission, flight distance extra ratio are most appropriate optimization objectives. Therefore, this paper selects these two indicators form fitness...

Task assignment problem of unmanned aerial vehicles (UAVs) based on the artificial intelligent algorithms has been widely explored in recent years. UAVs' heterogeneity including velocity, range, number weapons is studied this paper. Mathematical model constructed total distance objective function and complex constrains UAVs, such as multiple tasks, specified task sequence time window. To solve problem, improved simulated annealing particle swarm optimization (SAPSO) algorithm applied. In...

Cooperative task assignment of unmanned aerial vehicles (UAVs) in complex scenarios is widely studied recent years. The purpose this paper to explore new methods scenarios. Scenarios discussed consist the UAVs' heterogeneity range, speed and constraints multi-task, time window process. Based on objective function completion time, mathematical model constructed. Subsequently, improved quantum particle swarm optimization (QPSO) algorithm applied solve problem. Relationship between position...

For task planning of the command and control structure, existing algorithms exhibit low efficiency poor replanning quality under abnormal conditions. Given requirements current accusation architecture, a distributed structure model is built in this paper based on multiagents, which exploits superiority multiagents achieving complex tasks. The concept MultiAgent‐HTN proposed framework. original hierarchical network algorithm optimized, multiagent collaboration framework redefined,...

The image encryption algorithm based on chaotic system has been widely used at present. For this kind of algorithm, the mechanism "scrambling - diffusion" and multiple iterations are mainly adopted. In paper, common one-dimensional logistic mapping is taken as an example to analyze influence number effect. simulation results show that, when only complete operation, except for key space, contribution single diffusion operation effect basically same, no significant encryption. When a employed,...

In view of the fact that dynamic characteristic a single chaotic system is insufficient in image encryption algorithm, time sequence output often not theoretical completely random, but cascade can improve defect. And cascading systems make real value discrete distribution more uniform, has better characteristics. Therefore, this paper proposes an algorithm based on s-l system. Through simulation experiment key sensitivity, histogram, correlation between adjacent elements such as evaluation...

For the task planning problem of command and control architecture, existing algorithms have problems such as low efficiency poor re-planning quality under abnormal conditions. Based on requirements current accusation this paper constructs a distributed architecture model based multi-agents, which makes use superiority multi-agents in dealing with complex tasks. The concept MultiAgents-HTN is proposed framework. original hierarchical network algorithm optimized, multi-agent collaboration...

This paper presents a bionic motion planning approach for the catching movement of robot arm based on novel tau guidance theory, which was established from studying pattern biology by cognitive scientists. In accordance with rules human movement, method ensures continuity acceleration and makes be zero at start end movement. The implemented 3-DOF 3R planar arm. result shows that, within defined time, position gap attitude can closed same curves joint velocity, driving torque keep continuous smooth.

Task allocation of multiple unmanned aerial vehicles (multi-UAVs) is a typical NP-hard problem. In this paper, according to practical battlefield needs, mathematical model constructed based on complex constrains task allocation, and objective function multi-UAVs' global voyage time. An improved strategy particle position basic Particle Swarm Optimization (PSO) algorithm applied the problem, reasonable schemes are obtained. The meet including sequence, time window, UAVs' capacities flight...

The continuous path of a manipulator is often discretized into series independent action poses during tracking, and the inverse kinematic solution manipulator’s computationally challenging yields inconsistent results. This research suggests manipulator-route-tracking method employing deep-reinforcement-learning techniques to deal with this problem. paper takes an end-to-end-learning approach for closed-loop control eliminates process obtaining answer by converting path-tracking task...

The following paper deals with an assistance function based on genetic algorithms (GA) to optimize the weighting factors of driving "Adaptive Local Trajectory Planning (alTp)", which serves as a part trajectory planning autonomous compensate for inability global in obstacle avoidance dynamic traffic environment. Considering derived requirements, considered optimization problem is coded and initialized. To ensure steady alTp specified factors, same objective criteria are also applied fitness...