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A Study on EKF-SLAM Simulation of Autonomous Flight Control of Quadcopter
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- 발행기관
- 보안공학연구지원센터(IJSEIA) 바로가기
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- 간행물
- International Journal of Software Engineering and Its Applications SCOPUS 바로가기
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- 통권
- Vol.9 No.9 (2015.09)바로가기
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- 페이지
- pp.269-282
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- 저자
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- 언어
- 영어(ENG)
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- URL
- https://www.earticle.net/Article/A254070
※ 원문제공기관과의 협약기간이 종료되어 열람이 제한될 수 있습니다.
원문정보
초록
- 영어
- In the field of autonomous navigation control of unmanned vehicles, it is most essential to estimate the location of the controlled vehicle. In this paper, a method for estimating the location of a quadcopter is proposed to autonomously control the flight of an unmanned quadcopter. The algorithm for estimating the location of a quadcopter is proposed by applying the EKF-SLAM, and the algorithm is simulated for the system to estimate and control the flight trajectories of the quadcopter. Prior to simulation, a dynamic model for the quadcopter is introduced, and simulations are carried out to determine the manner in which the quadcopter changes with respect to the thrust. Moreover, the leveling control and posture control are simulated through a PD controller, and the flight trajectories of the quadcopter are analyzed through the posture control. Furthermore, a virtual landmark is established for applying the EKF-SLAM based on a fabricated quadcopter simulator. Moreover, an observation model for observing the landmark is proposed for estimating the flight trajectories of the quadcopter, along with a state equation and a Jacobian matrix. Finally, potential advancement in the simultaneous location estimation and mapping technology of the quadcopter is presented by simulating the quadcopter EKF-SLAM and validating its performance.
목차
Abstract
1. Introduction
2. Quadcopter Model
2.1. Thrust Model
2.2. Torque Model
2.3. Equations of Motion
3. EKF-SLAM
3.1. Motion Model
3.2. Observation Model
3.3. Motion Model Jacobian Matrix
3.4. Observation Model Jacobian Matrix
3.5. Quadcopter EKF-SLAM
4. Simulation
4.1. Simulation According to Flight Type
4.2. A Comparison of Performance According to the Number of Landmarks
5. Conclusion
Acknowledgements
References
키워드
Extended Kalman Filter SLAM EKF-SLAM Quadcopter dynamics저자
간행물 정보
발행기관
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- 발행기관명
- 보안공학연구지원센터(IJSEIA) [Science & Engineering Research Support Center, Republic of Korea(IJSEIA)]
- 설립연도
- 2006
- 분야
- 공학>컴퓨터학
- 소개
- 1. 보안공학에 대한 각종 조사 및 연구 2. 보안공학에 대한 응용기술 연구 및 발표 3. 보안공학에 관한 각종 학술 발표회 및 전시회 개최 4. 보안공학 기술의 상호 협조 및 정보교환 5. 보안공학에 관한 표준화 사업 및 규격의 제정 6. 보안공학에 관한 산학연 협동의 증진 7. 국제적 학술 교류 및 기술 협력 8. 보안공학에 관한 논문지 발간 9. 기타 본 회 목적 달성에 필요한 사업
간행물
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- 간행물명
- International Journal of Software Engineering and Its Applications
- 간기
- 월간
- pISSN
- 1738-9984
- 수록기간
- 2008~2016
- 등재여부
- SCOPUS
- 십진분류
- KDC 505 DDC 605
이 권호 내 다른 논문 / International Journal of Software Engineering and Its Applications Vol.9 No.9
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