UWB-Odometry 융합을 통한 최적화 기반 다중 무인 비행체 상대 위치 추정 기법

Abstract

In order to implement the tasks on the various environments such as unknown or dangerous environments, unmanned aerial vehicles (UAVs) are being researched. However, for a single UAV, the tasks are restricted owing to the low payload and short flight time. With the aim of overcoming the limitation of a single UAV, the multi-UAV system is being researched. Meanwhile, to utilize the multi-UAV system efficiently, it is important to estimate the relative position of each UAV. Without the global navigation satellite system (GNSS), the vision-based relative position estimation methods such as image matching are widely used. However, sharing the vision data is unsuitable for the multi-UAV system because of its high communication bandwidth load. In this study, we propose a novel ultra-wideband (UWB) and odometry fusion method that shares odometry and range data which have significantly smaller size compared with the image data to estimate the relative position between the UAVs.