scholarly journals Comparative Study of SLAM Techniques for UAV

2022 ◽  
Vol 12 (1) ◽  
pp. 67
Author(s):  
Abdul Rauf ◽  
Muhammad Jehanzeb Irshad ◽  
Muhammad Wasif ◽  
Syed Umar Rasheed ◽  
Nouman Aziz ◽  
...  
Keyword(s):  
Kalman Filter ◽  
Linear System ◽  
Position Estimation ◽  
Ultra Wideband ◽  
Aerial Robotics ◽  
Military Operations ◽  
Localization And Mapping ◽  
Non Linear System ◽  
Gps System ◽  
Search Control

In the last few decades, the main problem which has attracted the attention of researchers in the field of aerial robotics is the position estimation or Simultaneously Localization and Mapping (SLAM) of aerial vehicles where the GPS system does not work. Aerial robotics are used to perform many tasks such as rescue, transportation, search, control, monitoring, and different military operations where the performance of humans is impossible because of their vast top view and reachability anywhere. There are many different techniques and algorithms which are used to overcome the localization and mapping problem. These techniques and algorithms use different sensors such as Red Green Blue and Depth (RGBD), Light Detecting and Range (LIDAR), Ultra-Wideband (UWB) techniques, and probability-based SLAM which uses two algorithms Linear Kalman Filter (LKF) and Extended Kalman filter (EKF). LKF consists of 5 phases and this algorithm is only used for linear system problems but on the other hand, EKF algorithm is also used for non-linear system. EKF is found better than LKF due to accuracy, practicality, and efficiency while dealing SLAM problem.

A new numerical method for 1-D backward stochastic differential equations without using conditional expectations

2020 ◽  
Vol 28 (2) ◽  
pp. 79-91
Author(s):  
Aissa Sghir ◽  
Sokaina Hadiri
Keyword(s):  
Kalman Filter ◽  
Linear System ◽  
Differential Equations ◽  
Stochastic Differential Equations ◽  
Numerical Method ◽  
Extended Kalman Filter ◽  
Backward Stochastic Differential Equations ◽  
Conditional Expectations ◽  
Non Linear System ◽  
Reference Trajectories

AbstractIn this paper, we propose a new numerical method for 1-D backward stochastic differential equations (BSDEs for short) without using conditional expectations. The approximations of the solutions are obtained as solutions of a backward linear system generated by the terminal conditions. Our idea is inspired from the extended Kalman filter to non-linear system models by using a linear approximation around deterministic nominal reference trajectories.

Comparison of different SLAM approaches for a driverless race car

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Nick Le Large ◽  
Frank Bieder ◽  
Martin Lauer
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Ground Truth ◽  
Time Constraints ◽  
Differential Gps ◽  
Real World Data ◽  
Race Car ◽  
Localization And Mapping ◽  
Slam Algorithm ◽  
Computational Resources

Abstract For the application of an automated, driverless race car, we aim to assure high map and localization quality for successful driving on previously unknown, narrow race tracks. To achieve this goal, it is essential to choose an algorithm that fulfills the requirements in terms of accuracy, computational resources and run time. We propose both a filter-based and a smoothing-based Simultaneous Localization and Mapping (SLAM) algorithm and evaluate them using real-world data collected by a Formula Student Driverless race car. The accuracy is measured by comparing the SLAM-generated map to a ground truth map which was acquired using high-precision Differential GPS (DGPS) measurements. The results of the evaluation show that both algorithms meet required time constraints thanks to a parallelized architecture, with GraphSLAM draining the computational resources much faster than Extended Kalman Filter (EKF) SLAM. However, the analysis of the maps generated by the algorithms shows that GraphSLAM outperforms EKF SLAM in terms of accuracy.

A novel LSSVM-L Hammerstein model structure for system identification and nonlinear model predictive control of CSTR servo and regulatory control

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Akshaykumar Naregalkar ◽  
Subbulekshmi Durairaj
Keyword(s):  
Linear System ◽  
Regulatory Control ◽  
Hammerstein Model ◽  
Support Vector ◽  
Model Structure ◽  
Linear Dynamics ◽  
Vector Machines ◽  
Non Linear ◽  
Laguerre Filters ◽  
Non Linear System

Abstract A continuous stirred tank reactor (CSTR) servo and the regulatory control problem are challenging because of their highly non-linear nature, frequent changes in operating points, and frequent disturbances. System identification is one of the important steps in the CSTR model-based control design. In earlier work, a non-linear system model comprises a linear subsystem followed by static nonlinearities and represented with Laguerre filters followed by the LSSVM (least squares support vector machines). This model structure solves linear dynamics first and then associated nonlinearities. Unlike earlier works, the proposed LSSVM-L (least squares support vector machines and Laguerre filters) Hammerstein model structure solves the nonlinearities associated with the non-linear system first and then linear dynamics. Thus, the proposed Hammerstein’s model structure deals with the nonlinearities before affecting the entire system, decreasing the model complexity and providing a simple model structure. This new Hammerstein model is stable, precise, and simple to implement and provides the CSTR model with a good model fit%. Simulation studies illustrate the benefit and effectiveness of the proposed LSSVM-L Hammerstein model and its efficacy as a non-linear model predictive controller for the servo and regulatory control problem.

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