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Distributed filtering over sensor networks for autonomous navigation of UAVs
- 作者:Gerasimos G. Rigatos (1) grigat@ieee.org
- 关键词:UAV 8211 ; Extended information filter 8211 ; Unscented information filter 8211 ; Distributed particle filter 8211 ; Derivative ; free extended information filter 8211 ; Nonlinear control 8211 ; Multi ; source multi ; target tracking 8211 ; Sensor fusion 8211 ; Autonomous navigation 8211 ; Sensor networks
- 刊名:Intelligent Service Robotics
- 出版年:2012
- 出版时间:July 2012
- 年:2012
- 卷:5
- 期:3
- 页码:179-198
- 全文大小:1.7 MB
- 参考文献:1. Nettleton E, Durrant-Whyte H, Sukkarieh S (2003) A robust architecture for decentralized data fusion. In: ICAR03, 11th international conference on advanced robotics. Coimbra, Portugal
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Rigatos GG, Tzafestas SG (2007) Extended Kalman filtering for fuzzy modeling and multi-sensor fusion, mathematical and computer modeling of dynamical systems, vol 13, no 3. Taylor and Francis 44. Manyika J, Durrant-Whyte H (1994) Data fusion and sensor management: a decentralized information theoretic approach. Prentice Hall, Englewood Cliffs 45. Rigatos G, Zhang Q (2009) Fuzzy model validation using the local statistical approach. Fuzzy Sets Syst Elsevier 60(7): 8828211;904 46. Julier S, Uhlmann J, Durrant-Whyte HF (2000) A new method for the nonlinear transformations of means and covariances in filters and estimators. IEEE Trans Autom Control 45(3): 4778211;482 47. Julier SJ, Uhlmann JK (2004) Unscented filtering and nonlinear estimation. Proc IEEE 92: 4018211;422 48. S盲rrk盲 S (2007) On unscented Kalman filtering for state estimation of continuous-time nonlinear systems. IEEE Trans Autom Control 52(9): 16318211;1641 49. Thrun S, Burgard M, Fox D (2005) Probabilistic robotics. MIT Press, Cambridge 50. Zhang Q, Campillo F, C茅rou F, Legland F (2005) Nonlinear fault detection and isolation based on bootstrap particle filters. In: Proc of the 44th IEEE conference on decision and control, and European control conference. Seville, Spain 51. Musso C, Oudjane N, Le Gland F (2001) Imrpoving regularized particle filters. In: Doucet A, de Freitas N, Gordon N (eds) Sequential Monte Carlo methods in practice. Springer-Verlag, Berlin, pp 2478211;272 52. Rigatos GG (2008) Autonomous robots navigation using flatness-based control and multi-sensor fusion. In: Pecherkova P, Fliidr M, Dunik J (eds) Robotics, automation and control. InTech Education and Publishing KG, Vienna, pp 3948211;416 53. Xia Y, Zhu Z, Fu M, Wang S (2011) Attitude tracking of rigid spacecraft with bounded disturbances. IEEE Trans Ind Electron 58(2): 6478211;659 - 作者单位:1. Department of Engineering, Harper Adams University College, Shropshire, TF10 8NB UK
- 刊物类别:Engineering
- 刊物主题:Automation and Robotics
Control Engineering Artificial Intelligence and Robotics User Interfaces and Human Computer Interaction Vibration, Dynamical Systems and Control Complexity
- 出版者:Springer Berlin Heidelberg
- ISSN:1861-2784
文摘
The paper studies the problem of localization and autonomous navigation of a multi-UAV system with the use of Distributed Filtering methods (DF). It is considered that m UAV (helicopter) models are monitored by n different ground stations. The overall concept is that at each monitoring station a filter is used to track each UAV by fusing measurements which are provided by various UAV sensors, while by fusing the state estimates from the distributed local filters an aggregate state estimate for each UAV is obtained. In particular, the paper proposes first the extended information filter (EIF) and the unscented information filter (UIF) as possible approaches for fusing the state estimates provided by the local monitoring stations, under the assumption of Gaussian noises. The EIF and UIF estimated state vector is in turn used by a flatness-based controller that makes the UAV follow the desirable trajectory. Moreover, the distributed particle filter (DPF) is proposed for fusing the state estimates provided by the local monitoring stations (local filters). The motivation for using DPF is that it is well-suited to accommodate non-Gaussian measurements. The DPF estimated state vector is again used by the flatness-based controller to make each UAV follow a desirable flight path. Finally, a derivative-free implementation of the extended information filter (DEIF) is introduced aiming at obtaining more accurate estimates of the UAV state vector in real-time. The performance of the EIF, of the UIF, of the DPF and of the DEIF is evaluated through simulation experiments in the case of a 2-UAV model monitored and remotely navigated by two local stations.
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