Blind localization method for quadrotor-unmanned aerial vehicle (QUAV) utilizing genetic algortihm
College
Gokongwei College of Engineering
Department/Unit
Electronics And Communications Engg
Document Type
Conference Proceeding
Source Title
2014 International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment and Management, HNICEM 2014 - 7th HNICEM 2014 Joint with 6th International Symposium on Computational Intelligence and Intelligent Informatics, co-located with 10th ERDT Conference
Publication Date
1-1-2014
Abstract
There is an increasing research interest in unmanned autonomous vehicles (UAVs) such as quadrotors. These researches applies these quadrotors for much more complicated tasks with most requiring cameras and GPS modules for positioning. This paper presents an alternative way of position localization of a quadrotor without the use of cameras and GPS modules by means of transceivers and Genetic Algorithm (GA). This paper uses the received signals from the transceivers as inputs for the genetic algorithm in order to locate the quadrotor in a xyz axis. Parameters such as location of transceivers, amount of transceivers and population size of the GA are tested in order to determine a successful way of locating the quadrotor. Results show that the different parameters tested were successful and converges to a point usually with a fitness measure greater than 99%. An average fitness measure greater than 99.9900% served as a benchmark for the tests done. The first test achieved this benchmark at about 130 generations and the second test achieved it at 110 generations. The time it took for the program to locate the quadrotor is about 60 milliseconds. Results show that this blind localization technique is successfully locates the quadrotor and may be calibrated to one's own need. © 2014 IEEE.
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Digitial Object Identifier (DOI)
10.1109/HNICEM.2014.7016214
Recommended Citation
Faelden, G. U., Maningo, J. Z., Nakano, R. S., Bandala, A. A., & Dadios, E. P. (2014). Blind localization method for quadrotor-unmanned aerial vehicle (QUAV) utilizing genetic algortihm. 2014 International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment and Management, HNICEM 2014 - 7th HNICEM 2014 Joint with 6th International Symposium on Computational Intelligence and Intelligent Informatics, co-located with 10th ERDT Conference https://doi.org/10.1109/HNICEM.2014.7016214
Disciplines
Electrical and Computer Engineering | Electrical and Electronics | Systems and Communications
Keywords
Quadrotor helicopters; Genetic algorithms; Automatic tracking
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