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http://dx.doi.org/10.7471/ikeee.2015.19.4.557

A Position Estimation of Quadcopter Using EKF-SLAM  

Cho, Youngwan (Dept. of Computer Engineering, Seokyeong University)
Hwang, Jaeyoung (Dept. of Computer Engineering, Seokyeong University)
Lee, Heejin (Dept. of Electrical, Electronic and Control Engineering, Hankyong National University)
Publication Information
Journal of IKEEE / v.19, no.4, 2015 , pp. 557-565 More about this Journal
Abstract
In this paper, a method for estimating the location of a quadcopter is proposed by applying an EKF-SLAM algorithm to its flight control, to autonomously control the flight of an unmanned quadcopter. The usefulness of this method is validated through simulations. For autonomously flying the unmanned quadcopter, an algorithm is required to estimate its accurate location, and various approaches exist for this. Among them, SLAM, which has seldom been applied to the quadcopter flight control, was applied in this study to simulate a system that estimates flight trajectories of the quadcopter.
Keywords
Extended Kalman Filter; EKF-SLAM; Quadcopter; Position estimation; Flight control;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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