TY - GEN
T1 - SLAM for a small UAV with compensation for unordinary observations and convergence analysis
AU - Shinohara, Takumi
AU - Namerikawa, Toru
N1 - Publisher Copyright:
© 2016 The Society of Instrument and Control Engineers - SICE.
PY - 2016/11/18
Y1 - 2016/11/18
N2 - This paper deals with the Simultaneous Localization and Mapping (SLAM) problem for a small Unmanned Aerial Vehicle (UAV) via extended Kalman Filter (EKF) with compensations for unordinary observations. In the SLAM problem, a robot sometimes loses its proper observations then the estimation accuracy deteriorates. In this paper, to remove the effects of unordinary observations, we propose a novel SLAM method considering unordinary observation based on Mahalanobis distance. The proposed method detects the unordinary observations by comparing the observation values with its estimation and determines the weight of these observations. The convergence of the state error covariance matrix is proven. In experimental validation, we show that the UAV state and environment information can be estimated with the proposed method.
AB - This paper deals with the Simultaneous Localization and Mapping (SLAM) problem for a small Unmanned Aerial Vehicle (UAV) via extended Kalman Filter (EKF) with compensations for unordinary observations. In the SLAM problem, a robot sometimes loses its proper observations then the estimation accuracy deteriorates. In this paper, to remove the effects of unordinary observations, we propose a novel SLAM method considering unordinary observation based on Mahalanobis distance. The proposed method detects the unordinary observations by comparing the observation values with its estimation and determines the weight of these observations. The convergence of the state error covariance matrix is proven. In experimental validation, we show that the UAV state and environment information can be estimated with the proposed method.
KW - Convergence Analysis
KW - Extended Kalman Filter (EKF)
KW - UAV SLAM
UR - http://www.scopus.com/inward/record.url?scp=85008253005&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85008253005&partnerID=8YFLogxK
U2 - 10.1109/SICE.2016.7749190
DO - 10.1109/SICE.2016.7749190
M3 - Conference contribution
AN - SCOPUS:85008253005
T3 - 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
SP - 1252
EP - 1257
BT - 2016 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 55th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2016
Y2 - 20 September 2016 through 23 September 2016
ER -