Ultra-wideband and Visual Odometry Based Relative Localization for Multi-UAV System

被引：0

作者：

Zhang, Yikai ^{[1
]}

Tian, Bailing ^{[1
]}

Chen, Hongming ^{[1
]}

机构：

[1] Tianjin Univ, Sch Elect & Informat Engn, Tianjin 300072, Peoples R China

来源：

PROCEEDINGS OF THE 39TH CHINESE CONTROL CONFERENCE | 2020年

基金：

国家教育部科学基金资助; 中国国家自然科学基金;

关键词：

Ultra-wideband; relative localization; Visual Odometry; Multi-UAV system; ROBUST;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a relative localization algorithm for Multi-UAV system, in which each agent is able to estimate the relative position of its neighbor based on Ultra-wideband measurement and visual odometry information exchanged. The relative localization algorithm consists of two parts. Visual odometry pre-process part fuses the IMU data and radar altimeter data to correct visual odometry error and reach a higher update rate to ensure flight smoothly and a better state estimation. Using the UWB measurement and information exchanged, each agent constructs a graph to solve relative localization problem in sliding window. Finally, experimental results are presented to corroborate the effectiveness of our proposed relative localization algorithm.

引用

页码：4665 / 4670

页数：6

共 22 条

[1]

[Anonymous], 2019, IEEE T CYBERNETICS

[2]

Aravkin AY, 2014, SIGNALS COMMUN TECHN, P237, DOI 10.1007/978-3-642-38398-4_8

[3]

De Silva O, 2015, IEEE INT CONF ROBOT, P434, DOI 10.1109/ICRA.2015.7139035

[4] Mobile Robot Localization Using the Phase of Passive UHF RFID Signals [J].

DiGiampaolo, Emidio ;

Martinelli, Francesco .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2014, 61 (01) :365-376

[5] A probabilistic approach to collaborative multi-robot localization [J].

Fox, D ;

Burgard, W ;

Kruppa, H ;

Thrun, S .

AUTONOMOUS ROBOTS, 2000, 8 (03) :325-344

[6] Ultra-wideband based cooperative relative localization algorithm and experiments for multiple unmanned aerial vehicles in GPS denied environments [J].

Guo, Kexin ;

Qiu, Zhirong ;

Meng, Wei ;

Xie, Lihua ;

Teo, Rodney .

INTERNATIONAL JOURNAL OF MICRO AIR VEHICLES, 2017, 9 (03) :169-186

[7] Ultra-Wideband-Based Localization for Quadcopter Navigation [J].

Guo, Kexin ;

Qiu, Zhirong ;

Miao, Cunxiao ;

Zaini, Abdul Hanif ;

Chen, Chun-Lin ;

Meng, Wei ;

Xie, Lihua .

UNMANNED SYSTEMS, 2016, 4 (01) :23-34

[8]

Howard A, 2002, 2002 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-3, PROCEEDINGS, P434, DOI 10.1109/IRDS.2002.1041428

[9] Robust Team Formation Control for Quadrotors [J].

Jasim, Wesam ;

Gu, Dongbing .

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2018, 26 (04) :1516-1523

[10] Distance-Based Cycle-Free Persistent Formation: Global Convergence and Experimental Test With a Group of Quadcopters [J].

Kang, Sung-Mo ;

Park, Myoung-Chul ;

Ahn, Hyo-Sung .

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2017, 64 (01) :380-389

← 1 2 3 →