EKF-SLAM for Quadcopter Using Differential Flatness-Based LQR Control

SLAM (Simultaneous Localization And Mapping) in unmanned aerial vehicles can be an advantageous proposition during dangerous missions where aggressive maneuvers are paramount. This paper proposes to achieve it for a quadcopter using a differential flatness-based linear quadratic regulator while util...

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Veröffentlicht in:	Electronics (Basel) 2023-03, Vol.12 (5), p.1113
Hauptverfasser:	Rauniyar, Shyam, Bhalla, Sameer, Choi, Daegyun, Kim, Donghoon
Format:	Artikel
Sprache:	eng
Schlagworte:	Computing time Control systems Drone aircraft Errors Extended Kalman filter Flatness Global positioning systems GPS Inertial platforms Kalman filtering Kalman filters Lidar Linear quadratic regulator Localization Mapping Performance enhancement Registration Sensors Simultaneous localization and mapping Unmanned aerial vehicles
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