Muhtadin, Supeno Mardi Susiki Nugroho, Mauridhi Hery Purnomo : SIMULASI PENENTUAN POSISI 3D QUADCOPTER BERBASIS ENHANCEMENT PARTICLE FILTER USING ANT COLONY OPTIMIZATION

Muhtadin ST., MT.
Supeno Mardi Susiki Nugroho ST., M.T.
Prof.Dr.Ir. Mauridhi Hery Purnomo M.Eng.

Year

2014

Published in

The 2nd Indonesian Symposium on Robot Soccer Competition

External link

-

Type

Seminar Nasional

Keywords

Localization Particle Filter Ant Colony Optimization


Abstract

Quadcopter localization in the 3D area will be difficult if only use limited sensor while the area is wide. Particle filter can estimate quadcopter position (x, y, z, and yaw) based on motion information and sensor readings. This method provides accurate and continuous result for nonlinear systems. In the particle filter, the greater number of particles is used cause high computation on CPU. The use of the optimum number of particles needed to reduce the computational CPU. In this study, the proposed improvements on the particle filter using Ant Colony Optimization that helps in the spread of particles at random, so that the particle distribution is always located in the area of the actual position of the robot. With this modification, the particles converge at iteration 50 with a particle number of 500 particles