TY - GEN
T1 - Sliding mode three-dimension SLAM with application to quadrotor helicopter
AU - Santos, Salvador Ortiz
AU - Yu, Wen
AU - Zamora, Erik
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/11/13
Y1 - 2018/11/13
N2 - Unmanned Aerial Vehicles (UAV) systems have increased their applications, however, in different environments, it is not possible to obtain the location with devices such as the Global Positioning System (GPS). Also, in exploration applications, it is required to build maps with these systems. In this paper, the navigation of a quadcopter is carried out where an algorithm is proposed to solve the Simultaneous Localization And Mapping (SLAM) problem. Therefore, the Extended Kalman Filter (EKF) is one of the most used techniques to perform SLAM in different robots. However, one of the restrictions of the EKF asks that the uncertainties must be of the Gaussian type wirh zero-mean. For this reason, we propose the SM-SLAM algorithm to relax this restriction, in such a way, the algorithm is robust against bounded perturbations. The results obtained from the proposed algorithm are compared with the EKF-SLAM.
AB - Unmanned Aerial Vehicles (UAV) systems have increased their applications, however, in different environments, it is not possible to obtain the location with devices such as the Global Positioning System (GPS). Also, in exploration applications, it is required to build maps with these systems. In this paper, the navigation of a quadcopter is carried out where an algorithm is proposed to solve the Simultaneous Localization And Mapping (SLAM) problem. Therefore, the Extended Kalman Filter (EKF) is one of the most used techniques to perform SLAM in different robots. However, one of the restrictions of the EKF asks that the uncertainties must be of the Gaussian type wirh zero-mean. For this reason, we propose the SM-SLAM algorithm to relax this restriction, in such a way, the algorithm is robust against bounded perturbations. The results obtained from the proposed algorithm are compared with the EKF-SLAM.
UR - http://www.scopus.com/inward/record.url?scp=85058472387&partnerID=8YFLogxK
U2 - 10.1109/ICEEE.2018.8533920
DO - 10.1109/ICEEE.2018.8533920
M3 - Contribución a la conferencia
AN - SCOPUS:85058472387
T3 - 2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2018
BT - 2018 15th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2018
Y2 - 5 September 2018 through 7 September 2018
ER -