Indoor Flying Robot Control and 3D Indoor Localization System
نویسندگان
چکیده
In this paper, a 3D localization method for an indoor flying robot using an Ultrasonic Positioning System (UPS) is described. The high performance localization systems for an indoor flying robot have high-end prices. Therefore, the main objective of this study was to develop a low cost and high performance indoor localization system. In the localization method, the pseudoranges are measured from TDOA (Time Difference of Arrival) which is the difference between RF synchronization and ultrasonic signal arrival times. The algorithm for estimating the robot’s position was used to a multi-dimensional newton-raphson method and error-reduction algorithm called a sigma cutting method. The flying robot, a co-axial type of rotary-wing aircrafts, was controlled by PID theory and reduced noise with a butterworth filter. The effectiveness of the described method was evaluated through the hovering control with the flying robot, and the performance of the UPS had been also verified with the experimental results. Key–Words: localization, indoor flying robot, control, newton-raphson, ultrasonic, RF, UAV
منابع مشابه
Sensor Network Support for Real-time Indoor Localization of Four-rotor Flying Robots
We present a sensor network based indoor localization system that uses ultrasonic distance measurements for realtime localization of flying four-rotor robots. Such quadrocopters are on-board sensor controlled systems. They are very sensitive to lateral drifts, which cannot be compensated by mounted sensors. In our work, we provide a framework for time-of-flight based localization systems relyin...
متن کاملMap-merging in Multi-robot Simultaneous Localization and Mapping Process Using Two Heterogeneous Ground Robots
In this article, a fast and reliable map-merging algorithm is proposed to produce a global two dimensional map of an indoor environment in a multi-robot simultaneous localization and mapping (SLAM) process. In SLAM process, to find its way in this environment, a robot should be able to determine its position relative to a map formed from its observations. To solve this complex problem, simultan...
متن کامل3-D relative positioning sensor for indoor flying robots
Swarms of indoor flying robots are promising for many applications, including searching tasks in collapsing buildings, or mobile surveillance and monitoring tasks in complex man-made structures. For tasks that employ several flying robots, spatial-coordination between robots is essential for achieving collective operation. However, there is a lack of on-board sensors capable of sensing the high...
متن کاملFrom Wheels to Wings with Evolutionary Spiking Circuits
We give an overview of the EPFL indoor flying project, whose goal is to evolve neural controllers for autonomous, adaptive, indoor micro-flyers. Indoor flight is still a challenge because it requires miniaturization, energy efficiency, and control of nonlinear flight dynamics. This ongoing project consists of developing a flying, vision-based micro-robot, a bio-inspired controller composed of a...
متن کاملdesigning and implementing a 3D indoor navigation web application
During the recent years, the need arises for indoor navigation systems for guidance of a client in natural hazards and fire, due to the fact that human settlements have been complicating. This research paper aims to design and implement a visual indoor navigation web application. The designed system processes CityGML data model automatically and then, extracts semantic, topologic and geometric...
متن کامل