摘要
为小机器的飞艇，飞艇应该能够跟随一条预定义的轨道，这被要求。在这份报纸，计算机为机器的飞艇的基于视觉的航行和最佳的模糊控制策略被建议。第一，视觉航行基于环境的自然里程碑被介绍。例如，当飞艇在一个城市上正在飞时，大楼能被用作其几何性质从数字地图或一个地理信息系统(GIS ) 被知道的视觉烽火。然后，几何方法论被采用关于飞艇的取向和位置提取信息。以便在一个预定义的磁道上保留飞艇，一个模糊飞行控制系统被设计，它把那些数据用作它的输入。并且基因算法(气体) ，一个通用全球优化方法，被利用优化模糊控制器的会员功能。最后，航行和控制策略被验证。
For small robotic airships, it is required that the airship should be capable of following a predefined track. In this paper, computer vision-based navigation and optimal fuzzy control strategies for the robotic airship are proposed. Firstly, visual navigation based on natural landmarks of the environment is introduced. For example, when the airship is flying over a city, buildings can be used as visual beacons whose geometrical properties are known from the digital map or a geographical information system （GIS）. Then a geometrical methodology is adopted to extract information about the orientation and position of the airship. In order to keep the airship on a predefined track, a fuzzy flight control system is designed, which uses those data as its input. And genetic algorithms （GAs）, a general-purpose global optimization method, are utilized to optimize the membership functions of the fuzzy controller. Finally, the navigation and control strategies are validated.
出处
《自动化学报》
EI
CSCD
北大核心
2007年第3期286-291,共6页
Acta Automatica Sinica
基金
Supported by National Natural Science Foundation of P.R.China(50405046,60605028)
Shanghai Project of International Cooperation(045107031)
the Program for Excellent Young Teachers of Shanghai(04YOHB094)
关键词
自动化系统
飞行系统
智能机器人
宇宙飞船
Visual navigation, flight control, predefined track following, robotic airship.
