With the rise of agile air mobility, combined with low operating costs and advanced autonomous technologies, unmanned aircraft systems (UAS) are increasingly being integrated into various industries, including transportation, agriculture, and media. Typically, UAS guidance is managed either by autonomous systems or pilots. Autonomous systems offer advantages like stability and quick responsiveness but may lack effective emergency handling. Conversely, pilots excel in environmental perception and adaptive learning but are susceptible to fatigue. Inspired by this contradiction, the concept of shared control is introduced to harmonize these two control modes, leveraging their strengths while mitigating weaknesses. Following an extensive review of relevant literature, a rigorous definition of shared control for UAS operation is established, distinguishing it from assistant and filtering control methods. Two real-world scenarios are selected to assess the feasibility of shared control. In the first scenario, collision avoidance, a comprehensive shared control system is developed. The pilot's control authority is dynamically allocated based on collision risk, seamlessly integrating commands from both the pilot and autonomous systems. Field experiments validate the system's effectiveness, while Monte Carlo simulations further demonstrate its ability to increase the probability of avoidance, revealing potential additional collision risks. Additionally, user experiments are conducted to evaluate user satisfaction with the system. In the second scenario, aerial cinematography, a novel shared control method is developed based on optimal control methodologies. This approach incorporates a human input model and utilizes model predictive control techniques to build the shared control system. Through simulated flights, all intended functionalities are effectively realized. After completing the simulated aerial cinematography tasks, participants provide objective evaluations that align with anticipated satisfaction levels. The next step involves exploring the applicability of shared control across various scenarios. Future shared control systems should also be optimized for seamless integration with autonomous systems that possess learning capabilities. Additionally, mitigating the potential risks associated with implementing shared control remains critical.


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    Titel :

    A Concept for Shared Control of Unmanned Aircraft Systems


    Beteiligte:
    Liu, Jie (Autor:in)

    Erscheinungsdatum :

    2025



    Medientyp :

    Sonstige


    Format :

    Elektronische Ressource


    Sprache :

    Unbekannt




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