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The development of an autonomous navigation system with optimal control of an UAV in partly unknown indoor environment

Thoa Mac Thi (UGent) , Cosmin Copot (UGent) , Robain De Keyser (UGent) and Clara-Mihaela Ionescu (UGent)
(2018) MECHATRONICS. 49. p.187-196
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Abstract
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.
Keywords
Unmanned aerial vehicles (UAVs), Sensor fusion, Autonomous navigation, Optimal control, Multi-objective particle swarm optimization

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Chicago
Mac Thi, Thoa, Cosmin Copot, Robain De Keyser, and Clara-Mihaela Ionescu. 2018. “The Development of an Autonomous Navigation System with Optimal Control of an UAV in Partly Unknown Indoor Environment.” Mechatronics 49: 187–196.
APA
Mac Thi, T., Copot, C., De Keyser, R., & Ionescu, C.-M. (2018). The development of an autonomous navigation system with optimal control of an UAV in partly unknown indoor environment. MECHATRONICS, 49, 187–196.
Vancouver
1.
Mac Thi T, Copot C, De Keyser R, Ionescu C-M. The development of an autonomous navigation system with optimal control of an UAV in partly unknown indoor environment. MECHATRONICS. 2018;49:187–96.
MLA
Mac Thi, Thoa, Cosmin Copot, Robain De Keyser, et al. “The Development of an Autonomous Navigation System with Optimal Control of an UAV in Partly Unknown Indoor Environment.” MECHATRONICS 49 (2018): 187–196. Print.
@article{8556254,
  abstract     = {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.},
  author       = {Mac Thi, Thoa and Copot, Cosmin and De Keyser, Robain and Ionescu, Clara-Mihaela},
  issn         = {0957-4158},
  journal      = {MECHATRONICS},
  keyword      = {Unmanned aerial vehicles (UAVs),Sensor fusion,Autonomous navigation,Optimal control,Multi-objective particle swarm optimization},
  language     = {eng},
  pages        = {187--196},
  title        = {The development of an autonomous navigation system with optimal control of an UAV in partly unknown indoor environment},
  url          = {http://dx.doi.org/10.1016/j.mechatronics.2017.11.014},
  volume       = {49},
  year         = {2018},
}

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