Kalman Filter and SLAM Assisted Quadcoptor Navigation

Authors

  • Aniket Datar Computer Engineering,D Y Patil College Of Engineering, Ambi, Talegoan,Pune, india
  • Sagar Kadam Computer Engineering,D Y Patil College Of Engineering, Ambi, Talegoan,Pune, india
  • Pankaj Deshmukh Computer Engineering,D Y Patil College Of Engineering, Ambi, Talegoan,Pune, india
  • Vivek Kumar Computer Engineering,D Y Patil College Of Engineering, Ambi, Talegoan,Pune, india

Keywords:

SLAM, KALMAN FILTER, QUADCOPTER

Abstract

Recently, there has been increased interest in the development of autonomous flying vehicles. Most of this
research is going on in autonomous navigation of these vehicles. However, as most of the proposed approaches are
suitable for outdoor operation as they use GPS as key technology for localization. Due to limitation of GPS these
frameworks cannot be used for indoor or underwater environment. Only a few techniques have been designed for indoor
environments. Also the fast dynamics of flying Quadcopter makes this task more difficult. We present a general
navigation system that enables a small-sized quadrotor system to autonomously operate in indoor environments. System
is based on SLAM algorithm with use of Kalman Filter. Since the Kalman Filter has some limitations on its use, we
compare the variants of Kalman Filter for better computational efficient and reliable model. This system can be used in
development of low cost autonomous indoor Quadcopter for area exploration navigation or similar task.

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Published

2016-05-25

How to Cite

Aniket Datar, Sagar Kadam, Pankaj Deshmukh, & Vivek Kumar. (2016). Kalman Filter and SLAM Assisted Quadcoptor Navigation. International Journal of Advance Engineering and Research Development (IJAERD), 3(5), 875–880. Retrieved from https://ijaerd.org/index.php/IJAERD/article/view/1707

Issue

Vol. 3 No. 5 (2016): Volume 3 Issue 5 May-2016

Section

Articles