Cooperative SLAM for multiple UGVs navigation using SVSF filter

The aim of this paper is to present a cooperative simultaneous localization and mapping (CSLAM) solution based on a laser telemeter. The proposed solution gives the opportunity to a group of unmanned ground vehicles (UGVs) to construct a large map and localize themselves without any human intervention. Many solutions proposed to solve this problem, most of them are based on the sequential probabilistic approach, based around Extended Kalman Filter (EKF) or the Rao-Blackwellized particle filter. In our work, we propose a new alternative to avoid these limitations, a novel alternative solution based on the smooth variable structure filter (SVSF) to solve the UGV SLAM problem is proposed. This version of SVSF-SLAM algorithm uses a boundary layer width vector and does not require covariance derivation. The new algorithm has been developed to implement the SVSF filter for CSLAM. Our contribution deals with adapting the SVSF to solve the CSLAM problem for multiple UGVs. The algorithms developed in this work were implemented using a swarm of mobile robots Pioneer 3–AT. Two mapping approaches, point-based and line-based, are implemented and validated experimentally using 2D laser telemeter sensors. Good results are obtained by the Cooperative SVSF-SLAM algorithm compared with the Cooperative EKF-SLAM

An Optimal Control Problem of Unmanned Aerial Vehicle

International audienceAn unmanned aerial vehicle (UAV) has grown rapidly the last years. They are being engaged in many types of missions, ranging from military to agriculture passing from entertainment and rescue or even delivery. This work consist to ensure the convergence of positions and yaw angle, to their desired trajectories while maintaining stability of roll and pitch angle. For this, formulate this problem to an optimal control problem which minimizes the distance between state and desired state in free final time. Our contribution is to use the Bocop software to solve this problem. And to implement Shooting method with Matlab software

A Systematic Overview of Underwater Wireless Sensor Networks: Applications, Challenge and Research Perspectives

Underwater Wireless Sensor Networks (UWSNs) are becoming increasingly popular in marine applications due to advances in wireless and microelectronics technology. However, UWSNs present challenges in processing, energy, and memory storage due to the use of acoustic waves for communication, which results in long delays, significant power consumption, limited bandwidth, and packet loss. This paper provides a comprehensive review of the latest advancements in UWSNs, including essential services, common platforms, critical elements, and components such as localization algorithms, communication, synchronization, security, mobility, and applications. Despite significant progress, reliable and flexible solutions are needed to meet the evolving requirements of UWSNs. The purpose of this paper is to provide a framework for future research in the field of UWSNs by examining recent advancements, establishing a standard platform and service criteria, using a taxonomy to determine critical elements, and emphasizing important unresolved issues

Autonomous Navigation System Using a Fuzzy Adaptive Nonlinear H∞ Filter

Although nonlinear H∞ (NH∞) filters offer good performance without requiring assumptions concerning the characteristics of process and/or measurement noises, they still require additional tuning parameters that remain fixed and that need to be determined through trial and error. To address issues associated with NH∞ filters, a new SINS/GPS sensor fusion scheme known as the Fuzzy Adaptive Nonlinear H∞ (FANH∞) filter is proposed for the Unmanned Aerial Vehicle (UAV) localization problem. Based on a real-time Fuzzy Inference System (FIS), the FANH∞ filter continually adjusts the higher order of the Taylor development thorough adaptive bounds and adaptive disturbance attenuation , which significantly increases the UAV localization performance. The results obtained using the FANH∞ navigation filter are compared to the NH∞ navigation filter results and are validated using a 3D UAV flight scenario. The comparison proves the efficiency and robustness of the UAV localization process using the FANH∞ filter

Designing embedded systems for fixed-wing UAVs: Dynamic models study for the choice of an emulation vehicle

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Application optimal control for a problem aircraft flight

International audienceOur aim is to solve a problem of optimal control with free final time using the Pontryagin's maximum principle. As an illustration, we consider a navigation problem which is solved analytically and numerically by the shooting method in the case without constraint. The two approaches are compared. In the second case, we solve numerically the same problem with constraint on the state. At the end, we prove the convergence of the method for the second case

Optimization of Electricity Consumption in a Building

International audienceThe main objective of an energy regulation of a building is to maintain internal thermal comfort, as well as minimize energy consumption, or reduce the peak of electrical consumption. The dynamic programming has been used to minimize a cost function, accounting for a high peak electricity tariff, under constraints related to comfort (minimal temperature, maximal temperature variation) and the maximum heating power. The proposed energy management consists in over-heating the building during the hours before the peak knowing in advance the weather, occupation and internal gains for the day. The method has been tested in a case study corresponding to a house of a four-person family with performance levels: high construction and poorly insulated old house