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Title
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The development of an autonomous navigation system with optimal control of an UAV in partly unknown indoor environment
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Author
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Abstract
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| This paper presents an autonomous methodology for a low-cost commercial AR.Drone 2.0 in partly unknown indoor flight using only on-board visual and internal sensing. Novelty lies in: (i) the development of a position estimation method using sensor fusion in a structured environment. This localization method presents how to get the UAV localization states (position and orientation), through a sensor fusion scheme, dealing with data provided by an optical sensor and an inertial measurement unit (IMU). Such a data fusion scheme takes also in to account the time delay present in the camera signal due to the communication protocols; (ii) improved potential field method which is capable of performing obstacle avoiding in an unknown environment and solving the non reachable goal problem; and (iii) the design and implementation of an optimal proportional - integral - derivative (PID) controller based on a novel multi-objective particle swarm optimization with an accelerated update methodology tracking such reference trajectories, thus characterizing a cascade controller. Experimental results validate the effectiveness of the proposed approach. |
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Language
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English
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Source (journal)
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Mechatronics. - Oxford
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Publication
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Oxford
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2018
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ISSN
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0957-4158
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DOI
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10.1016/J.MECHATRONICS.2017.11.014
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Volume/pages
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49
(2018)
, p. 187-196
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ISI
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000425199700017
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Full text (Publisher's DOI)
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Full text (publisher's version - intranet only)
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