Towards Robust Onboard Control for Quadrotors via Ultra-Wideband-based Localization

Thumbnail Image

Access rights

openAccess
acceptedVersion

URL

Journal Title

Journal ISSN

Volume Title

A4 Artikkeli konferenssijulkaisussa
This publication is imported from Aalto University research portal.
View publication in the Research portal (opens in new window)
View/Open full text file from the Research portal (opens in new window)

Authors

Date

2020-06

Department

Department of Electrical Engineering and Automation

Major/Subject

Mcode

Degree programme

Language

en

Pages

6

Series

Proceedings of the 16th IEEE International Wireless Communications and Mobile Computing, IWCMC 2020, pp. 1630-1635

Abstract

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.

Description

Keywords

Linear quadratic regulator, Maximum correntropy criterion Kalman filter, Quadrotor control, Ultra-wideband communications

Other note

DOI

10.1109/IWCMC48107.2020.9148351

Citation

Makridis, E & Charalambous, T 2020, Towards Robust Onboard Control for Quadrotors via Ultra-Wideband-based Localization. in Proceedings of the 16th IEEE International Wireless Communications and Mobile Computing, IWCMC 2020., 9148351, IEEE, pp. 1630-1635, International Wireless Communications and Mobile Computing Conference, Limassol, Cyprus, 15/06/2020. https://doi.org/10.1109/IWCMC48107.2020.9148351

Permanent link to this item

https://urn.fi/URN:NBN:fi:aalto-202009115360

Collections

[article-cris] Sähkötekniikan korkeakoulu / ELEC