Onboard Real-Time Multi-Sensor Pose Estimation for Indoor Quadrotor Navigation with Intermittent Communication

Abstract

We propose a multisensor fusion framework for onboard real-time navigation of a quadrotor in an indoor environment, by integrating sensor readings from an Inertial Measurement Unit (IMU), a camera-based object detection algorithm, and an Ultra-WideBand (UWB) localization system. The sensor readings from the camera-based object detection algorithm and the UWB localization system arrive intermittently, since the measurements are not readily available. We design a Kalman filter that manages intermittent observations in order to handle and fuse the readings and estimate the pose of the quadrotor for tracking a predefined trajectory. The system is implemented via a Hardware-in-the-loop (HIL) simulation technique, in which the dynamic model of the quadrotor is simulated in an open-source 3D robotics simulator tool, and the whole navigation system is implemented on Artificial Intelligence (AI) enabled edge GPU. The simulation results show that our proposed framework offers low positioning and trajectory errors, while handling intermittent sensor measurements.

Publication
In IEEE Global Communications Conference (GLOBECOM)
Evagoras Makridis
Evagoras Makridis
PhD Student in Distributed Decision and Control of Networked Systems

My research interests include autonomous systems in networks, distributed optimization, and data-driven sequential decision-making (Reinforcement Learning), with applications in quadrotor navigation, resource management, and wireless link adaptation and scheduling.