Towards Robust Onboard Control for Quadrotors via Ultra-Wideband-based Localization
2020 (English)In: Proceedings of the 2020 International Wireless Communications and Mobile Computing, IWCMC 2020, Institute of Electrical and Electronics Engineers (IEEE) , 2020, p. 1630-1635Conference paper, Published paper (Refereed)
Abstract [en]
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.
Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2020. p. 1630-1635
Keywords [en]
linear quadratic regulator, maximum correntropy criterion Kalman filter, Quadrotor control, ultra-wideband communications, Air navigation, Antennas, Gaussian noise (electronic), Indoor positioning systems, Kalman filters, Mobile cloud computing, Mobile computing, Uncertainty analysis, Communication delays, In-door navigations, Model uncertainties, Non-Gaussian noise, Quadrotor unmanned aerial vehicles, Traditional Kalman filters, Translational motions, Ultra-wideband (UWB)
National Category
Signal Processing
Identifiers
URN: urn:nbn:se:kth:diva-301689DOI: 10.1109/IWCMC48107.2020.9148351Scopus ID: 2-s2.0-85089682123OAI: oai:DiVA.org:kth-301689DiVA, id: diva2:1595192
Conference
2020 International Wireless Communications and Mobile Computing, IWCMC 2020
Note
Part of proceedings ISBN 978-1-7281-3129-0
QC 20210917
2021-09-172021-09-172023-02-03Bibliographically approved