Accurate State Estimations and Velocity Drifting Compensations Using Complementary Filters for a Quadrotor in GPS-Drop Regions

Mutawe, Samer; Hayajneh, Mohammad

doi:10.15866/irea.v9i6.19735

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UAV coverage path optimization for collecting fine-grained distribution of air samples

Hayajneh,

Momani,

Al-ghazo

2023

2023 International Conference on Control, Automation and Diagnosis (ICCAD)

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UAV coverage path optimization for collecting fine-grained distribution of air samples

Hayajneh,

Momani,

Al-ghazo

2023

2023 International Conference on Control, Automation and Diagnosis (ICCAD)

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Guidance, Navigation and Control System for Multi-Robot Network in Monitoring and Inspection Operations

Hayajneh

Al-Mahasneh

2022

Drones

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This work focuses on the challenges associated with autonomous robot guidance, navigation, and control in multi-robot systems. This study provides an affordable solution by utilizing a group of small unmanned ground vehicles and quadrotors that collaborate on monitoring and inspection missions. The proposed system utilizes a potential fields path planning algorithm to allow a robot to track a moving target while avoiding obstacles in a dynamic environment. To achieve the required performance and provide robust tracking against wind disturbances, a backstepping controller is used to solve the essential stability problem and ensure that each robot follows the specified path asymptotically. Furthermore, the performance is also compared with a proportional-integral-derivative (PID) controller to ensure the superiority of the control system. The system combines a low-cost inertial measurement unit (IMU), a GNSS receiver, and a barometer for UAVs to generate a navigation solution (position, velocity, and attitude estimations), which is then used in the guidance and control algorithms. A similar solution is used for UGVs by integrating the IMU, a GNSS receiver, and encoders. Non-linear complementary filters integrate the measurements in the navigation system to produce high bandwidth estimates of the state of each robotic platform. Experimental results of several scenarios are discussed to prove the effectiveness of the approach.

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Accurate State Estimations and Velocity Drifting Compensations Using Complementary Filters for a Quadrotor in GPS-Drop Regions

Cited by 2 publications

References 0 publications

UAV coverage path optimization for collecting fine-grained distribution of air samples

UAV coverage path optimization for collecting fine-grained distribution of air samples

Guidance, Navigation and Control System for Multi-Robot Network in Monitoring and Inspection Operations

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