Towards Robust Onboard Control for Quadrotors via Ultra-Wideband-based Localization
| Autor: | Themistoklis Charalambous, Evagoras Makridis |
|---|---|
| Přispěvatelé: | KTH Royal Institute of Technology, Distributed and Networked Control Systems, Department of Electrical Engineering and Automation, Aalto-yliopisto, Aalto University |
| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
Computer science
Robustness (computer science) Control theory Linear quadratic regulator Maximum correntropy criterion Kalman filter ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Ultra-wideband ComputerApplications_COMPUTERSINOTHERSYSTEMS Quadrotor control Linear-quadratic regulator Kalman filter Ultra-wideband communications |
| Zdroj: | IWCMC |
| Popis: | This paper describes an indoor navigation approach using estimation and control for horizontal translational motion and heading angle for quadrotor Unmanned Aerial Vehicles (UAVs) via Ultra-Wideband (UWB)-based localization. In particular, to cope with noisy measurements, emanating from model uncertainties, and Non-Line-Of-Sight (NLOS) conditions, a Linear Quadratic Regulator (LQR) is deployed along with a Maximum Correntropy Criterion Kalman Filter (MCC-KF). This approach has proven improved robustness compared to the traditional Kalman Filter (KF) against non-Gaussian noise. A testbed with a quadrotor was developed for evaluating the performance of our proposed approach. We demonstrate, via the experimental setup, that the MCC-KF outperforms the use of KF in the presence of shots of mixed noise and communication delays, enabling onboard robust estimation and control via UWB-based localization. |
| Databáze: | OpenAIRE |
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