Integrated Positioning and Obstacle Avoidance for Multi-Quadrotors in an Indoor Office Environment
Jiaxin Yan, Xiaofei Yang, Hui Ye, Zhe Wang · 2019
In this paper, the positioning and obstacle avoidance problem of multi-quadrotors system in complex indoor environment is considered. In order to obtain accurate position of each quadrotor, an integrated positioning method based on the combination of Ultra-Wideband (UWB) and Inertial Navigation System (INS) is applied. In this method, the quadrotor's acceleration information from the INS is used for the state equation, and the distance information from UWB is used in the measurement equation. Then, the indoor positioning is carried out by the Unscented Kalman filter (UKF) technology. After that, the Artificial Potential Field (APF) method is adopted to realize obstacle avoidance and formation flight of multi-quadrotors and solve the problem of anti-collision between quadrotors. Finally, simulations of two-quadrotors are carried out to demonstrate the effectiveness of the proposed method.