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Indoor Localization System for Flying Robots Utilizing Infrared Sensors

D. Iwakura


In this paper, we describe a flying robot which aim to achieve an autonomous flight by utilizing small number external sensors. This flying robot utilizes four infrared distance sensor for localization. In order to know its position a particle filter and extended Kalman filter was implemented. Additionally for the particle filter, a probablistic infrared sensor model was modelled. For verifying the effectiveness of two methods, a experiment was carried out. As a result of experiment, it showed that a localization algorithm which is based on particle filter is more precise than Kalman filter one.

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