search

BitsRobocon / AutonomousDrone

Autonomous Drone for Indoor Navigation and Parcel Delivery
8 stars 5 forks source link

Localization #16

Open WalnutHawthorn opened 3 years ago

WalnutHawthorn commented 3 years ago

We decided to use a combination of the Extended Kalman Filter (EKF) and the Particle Filter (PF) for localization of the quadcopter as they complement each other well and have already been used in SLAM algorithms like FastSLAM

WalnutHawthorn commented 3 years ago

https://github.com/fada-catec/amcl3d This uses the PF alone to localize a robot in a 3D environment. Modifications will have to be made to make it compatible with our quadcopter. Then, it has to be integrated with the EKF to give a combination of the two for our use case

TheGodOfWar007 commented 3 years ago

@Srujan-D suggested modifying the inbuilt localization stack from the RTAB-Map package and combining it with AMCL at a later stage in #14 .