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Real-time state-of-health (SoH) estimation is often difficult to obtain due to the unavailability of capacity measurements in real-time monitoring. The equivalent internal resistance (EIR), which is easily obtained and closely related to battery deterioration, is studied as a possible solution for achieving real-time and reliable SoH estimation for lithium-ion batteries. A novel real-time SoH estimation method based on the EIR is introduced for lithium-ion batteries. First, an experimental study of the relationship between the EIR and battery degradation is implemented, and this study is used to develop an empirical description of battery degradation using the EIR vector. Second, a fast extraction method for identifying the EIR in real time is proposed by leveraging the relationship between the EIR vector and state of charge (SoC). Third, a support vector regression (SVR)-based method for real-time SoH estimation is introduced by characterizing the hidden relationship between the EIR vector and battery SoH. The proposed method is demonstrated using laboratory test data. The results show that the proposed method can predict the battery SoH in real time with good accuracy and robustness.

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State-of-charge (SOC) estimation is essential for the safe and effective utilization of lithium-ion batteries. As the SOC cannot be directly measured by sensors, an accurate battery model and a corresponding estimation method is needed. Compared with electrochemical models, the equivalent circuit models are widely used due to their simplicity and feasibility. However, such integer order-based models are not sufficient to simulate the key behavior of the battery, and therefore, their accuracy is limited. In this paper, a new model with fractional order elements is presented. The fractional order values are adaptively updated over time. For battery SOC estimation, an unscented fractional Kalman filter (UFKF) is employed based on the proposed model. Furthermore, a dual estimation scheme is designed to estimate the variable orders simultaneously. The accuracy of the proposed model is verified under different dynamic profiles, and the experimental results indicate the stability and accuracy of the estimation method.

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Simultaneous localization and mapping (SLAM) is essential for intelligent robots operating in unknown environments. However, existing algorithms are typically developed for specific types of solid-state LiDARs, leading to weak feature representation abilities for new sensors. Moreover, LiDAR-based SLAM methods are limited by distortions caused by LiDAR ego motion. To address the above issues, this paper presents a versatile and velocity-aware LiDAR-based odometry and mapping (VLOM) system. A spherical projection-based feature extraction module is utilized to process the raw point cloud generated by various LiDARs, hence avoiding the time-consuming adaptation of various irregular scan patterns. The extracted features are grouped into higher-level clusters to filter out smaller objects and reduce false matching during feature association. Furthermore, bundle adjustment is adopted to jointly estimate the poses and velocities for multiple scans, effectively improving the velocity estimation accuracy and compensating for point cloud distortions. Experiments on publicly available datasets demonstrate the superiority of VLOM over other state-of-the-art LiDAR-based SLAM systems in terms of accuracy and robustness. Additionally, the satisfactory performance of VLOM on RS-LiDAR-M1, a newly released solid-state LiDAR, shows its applicability to a wide range of LiDARs.

With the extensive application of 3D maps, acquiring high-quality images with unmanned aerial vehicles (UAVs) for precise 3D reconstruction has become a prominent topic of study. In this research, we proposed a coverage path planning method for UAVs to achieve full coverage of a target area and to collect high-resolution images while considering the overlap ratio of the collected images and energy consumption of clustered UAVs. The overlap ratio of the collected image set is guaranteed through a map decomposition method, which can ensure that the reconstruction results will not get affected by model breaking. In consideration of the small battery capacity of common commercial quadrotor UAVs, ray-scan-based area division was adopted to segment the target area, and near-optimized paths in subareas were calculated by a simulated annealing algorithm to find near-optimized paths, which can achieve balanced task assignment for UAV formations and minimum energy consumption for each UAV. The proposed system was validated through a site experiment and achieved a reduction in path length of approximately 12.6% compared to the traditional zigzag path.