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Performance Evaluation of the RTK-GNSS Navigating under Different Landscape |
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Kok Mun Ng(Universiti Teknologi MARA, Malaysia), Juliana Johari(Universiti Teknologi Mara, Malaysia) |
| The navigation of autonomous vehicles depends on various sensors. One of the technologies that assist in the vehicles position localization and navigation is the Global Positioning System (GPS). Enhancement of the GPS technology reveals the application of Real Time Kinematics (RTK)-GPS to achieve higher accuracy based on corrections sent from a base station to the receiver. However, there is limited evaluation of the performance of the RTK-GPS when the vehicle is travelling in land area that is obstructed by buildings and also in uneven landscape. Hence, the purpose of this work is to conduct |
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Attitude Dynamics Model-Based Gyroless Attitude Estimation for Agile Spacecraft |
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Sung-Hoon Mok(Korea Advanced Institute of Science and Technology, Korea), SooYung Byeon(Satrec Initiative, Korea), Hyochoong Bang(Korea Advanced Institute of Science and Technology, Korea) |
| In low-cost missions such as CubeSat missions, high-quality gyroscopes usually cannot be adopted due to its expensive price and large size/power/mass, and this leads to performance degradation in high-agility condition. This proceeding presents a simple example that illustrates how high-agility condition induces performance degradation in a classical gyro-based Kalman filter framework. Then, an alternative attitude estimation method that is based on a model-based gyroless Kalman filter framework is proposed. Performance comparison between gyro-based filter and gyroless filter are conducted. |
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Particle filter with the Novel Resampling Method using Artificial Immune System |
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Suktae Kang(University of Science and Technology, Korea), Myeong-Jong Yu(University of Science and Technology,Agency for Defense Development, Korea) |
| A new resampling scheme for the particle filter using an Artificial Immune System (AIS) is proposed in this paper. Based on the basic strategy of AIS, we demonstrate that particle diversity can be maintained by distinguishing superior particles to be preserved from inferior particles which need to be mutated. Computer simulation has confirmed that the proposed resampling strategy is more effective than the standard particle filter. In this paper a new resampling algorithm for particle filter is presented and evaluated using Matlab simulation |
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RGB-D and Magnetic Sequence-based Graph SLAM with Kidnap Recovery |
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Hyungjin Kim, Seungwon Song, Jieum Hyun(KAIST, Korea), Soon Hyuk Hong(Samsung Research Samsung Electronics Co., Ltd, Korea), Hyun Myung(KAIST, Korea) |
| This paper introduces graph structure-based simultaneous localization and mapping (SLAM) using RGB-D and magnetic sensors. We also propose kidnap recovery with graph SLAM structure. The RGB-D sensor can measure the distance value of the corresponding image pixel and magnetic sensor can measure magnetic field distortion in an indoor environment. Since these two sensors have different characteristics, they have different strengths when performing SLAM. |
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Robust Path Following Controller for Unmanned Aerial Vehicle Based on Carrot Chasing Guidance Law Using Dynamic Inversion |
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Ehab Safwat Khattab(NWPU, China) |
| This paper focuses on autonomous path-following flight under uncertainty and external disturbances. Integrated UAV waypoints guidance scheme based on carrot chasing guidance law is presented. In order to follow a desired path a Virtual Track Point (VTP) is introduced on the path and make the UAV chase it. The UAV updates its heading direction toward the VTP. As time progresses, the UAV will move toward the path and asymptotically follow the path. Nonlinear Dynamic Inversion (NDI) awards the flight control system researchers a straight forward method of deriving control laws for nonlinear syste |
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