何翔 - 北京航空航天大学

个人简介

我是北京人，出生于1990年。本科就读于北京航空航天大学自动化专业，获学士学位。硕士期间来到了北航蜂巢实验室攻读控制科学与工程专业。我在这里接触到了无人机，尤其是多旋翼无人机，并且产生了浓厚的兴趣。硕士期间我对于它的激光与视觉导航以及飞行控制在应用层面上有所研究。博士就读于美国犹他大学机械工程学院机器人专业，师从Kam K. Leang，获博士学位。主要研究旋翼飞行器的近邻效应（近地效应、天花板效应等）。主要科研成果发表在IEEE RA-L、AIAA Journal及JDSMC上。回国后我再次回到了北航加入了飞行学院，继续新型旋翼无人机的建模与控制研究。现在作为实验室负责人管理“微小型无人机GNC一体化实验室”也即DECAF Lab。2021年获北京市高精尖学科种子基金支持，同年获航空学会科技进步二等奖。教育经历 2015.8 -- 2020.4 犹他大学机械工程博士研究生毕业博士学位 2012.9 -- 2015.1 北京航空航天大学控制科学与工程硕士硕士 2008.9 -- 2012.6 北京航空航天大学控制科学与工程大学本科(简称“大学”) 学士工作经历 2020.10 -- 至今北京航空航天大学飞行学院助理教授在职社会兼职 ISO/IEC JTC 1/AG 19 专家

研究领域

微型高动态飞行器GNC一体化以具备高机动特性的微小型飞行器为平台，研究其轨迹生成、制导跟踪、位姿估计与姿态控制方法。力求完整而不割裂的达到制导（Guidance）导航（Navigation）与控制（Control）一体化设计。目标是实现轨迹最优、可达，跟踪精确、高效，姿态灵敏、稳定。

近期论文

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Quasi-Steady In-Ground-Effect Model for Single and Multirotor Aerial Vehicles.[期刊]:AIAA Journal,58(12) Autonomous Chemical-Sensing Aerial Robot for Urban/Suburban Environmental Monitoring, vol. 13, pp. 3524-3535, 2019 In-Ground-Effect Modeling and Nonlinear-Disturbance Observer for Multirotor Unmanned Aerial Vehicle Control, Journal of Dynamic Systems, Measurement, and Control, vol. 141, 2019 Open-Sector Rapid-Reactive Collision Avoidance: Application in Aerial Robot Navigation through Outdoor Unstructured Environments, Robotics and Automous Systems, vol. 112, pp. 211-220, 2019 A New Quasi-Steady In-Ground Effect Model for Rotorcraft Unmanned Aerial Vehicles, Dynamic System and Control Conference, 2019 Gaussian-Based Kernel for Multi-Agent Aerial Chemical-Plume Mapping, Dynamic System and Control Conference, 2019 Chemical-Source Localization Using a Swarm of Decentralized Unmanned Aerial Vehicles for Urban/Suburban Environments, Dynamic System and Control Conference, 2019 Design, Modeling, and Analysis of Inductive Resonant Coupling Wireless Power Transfer for Micro Aerial Vehicles (MAVS), International Conference on Robotics and Automation (ICRA), 2019 Modeling and Adaptive Nonlinear Disturbance Observer for Closed-loop Control of In-ground-effect on Multi-rotor UAVs, Dynamic System and Control Conference, 2017 Repetitive Control Design and Implementation for Periodic Motion Tracking in Aerial Vehicles, American Control Conference, 2017 A new inclining flight mode and oblique takeoff technique for a tiltrotor aircraft Design and Trajectory Tracking Control of a New Bi-Copter UAV Quasi-Steady In-Ground-Effect Model for Single and Multirotor Aerial Vehicles Decentralized Multi-agent information-theoretic control for target estimation and localization: finding gas leaks Modeling and Control of In-Ground-Effect on Rotorcraft Unmanned Aerial Vehicles A New Quasi-Steady In-Ground Effect Model for Rotorcraft Unmanned Aerial Vehicles Gaussian-Based Kernel for Multi-Agent Aerial Chemical-Plume Mapping Chemical-Source Localization Using a Swarm of Decentralized Unmanned Aerial Vehicles for Urban/Suburban Environments Autonomous Chemical-Sensing Aerial Robot for Urban/Suburban Environmental Monitoring In-Ground-Effect Modeling and Nonlinear Disturbance Observer for Multi-rotor UAV Control Open sector rapid reactive collision avoidance: Application in aerial robot navigation through outdoor unstructured environments Design, Modeling, and Analysis of Inductive Resonant Coupling Wireless Power Transfer for Micro Aerial Vehicles (MAVs) Modeling and Adaptive Nonlinear Disturbance Observer for Closed-Loop Control of In-Ground-Effects on Multi-Rotor UAVs Repetitive Control Design and Implementation for Periodic Motion Tracking in Aerial Vehicles A SVM embedded particle filter for multi-object detection and tracking Integrated indoor navigation system for aerial vehicle using visual odometry and artificial landmark matching Indoor navigation for aerial vehicle using monocular visual SLAM Feature extraction from 2D laser range data for indoor navigation of aerial robot A quadrotor helicopter localization method using 2D laser scanner in structured environment A real-time fast incremental SLAM method for indoor navigation