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

Evagoras Makridis, Themistoklis Charalambous

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

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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.

Original languageEnglish
Title of host publicationProceedings of the 16th IEEE International Wireless Communications and Mobile Computing, IWCMC 2020
PublisherIEEE
Pages1630-1635
Number of pages6
ISBN (Electronic)9781728131290
DOIs
Publication statusPublished - Jun 2020
MoE publication typeA4 Article in a conference publication
EventInternational Wireless Communications and Mobile Computing Conference - Limassol, Cyprus
Duration: 15 Jun 202019 Jun 2020
Conference number: 16

Conference

ConferenceInternational Wireless Communications and Mobile Computing Conference
Abbreviated titleIWCMC
CountryCyprus
CityLimassol
Period15/06/202019/06/2020

Keywords

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

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