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Design Convergent Dynamic Window Approach for Quadrotor Navigation
Felipe Patino Vista IV,정길도,Ansu Man Singh,이덕진 한국정밀공학회 2014 International Journal of Precision Engineering and Vol.15 No.10
This paper propose a novel objective function for the Dynamic Window Approach (DWA). We prove the convergence property of theobjective function using Lyapunov stability criteria. Unlike previous studies which concentrate on implementing the DWA in nonholonomicvehicles, in this paper we have considered a quadrotor whose motion is limited to a fixed X-Y plane just like a holonomicvehicle. Simulation result shows our method guides the vehicle in avoiding obstacles and converge to the goal even in situations whereconventional method failed.
Jhabindra Khanal,Felipe Patino Vista IV,Kim Young Chul,Kil To Chong 대한전자공학회 2020 IEIE Transactions on Smart Processing & Computing Vol.9 No.6
The Global Positioning System (GPS) is currently used in many geodetic applications to obtain precise positions within a centimeter, or even within a millimeter. Generally, such a level of accuracy can be obtained by performing complex processing on expensive receivers and antennas. Such high-cost devices can be replaced by low-cost, single-frequency GPS receivers to obtain precise positions. To do so, in this paper, Carrier Phase (CP)-based relative algorithms are successfully implemented on a CUDA-enabled embedded board (the Jetson TK1) with two low-cost GNNS receivers. A CUDA-enabled graphics processing unit (GPU) is a highly parallel structure that makes efficient and faster CP-based algorithms and that can process large blocks of data in parallel. Our results from field measurements clearly show that the positioning performance of a Rover with respect to the Base receiver reached the centimeter level. Therefore, this work shows the possibility of accurately estimating the position of a receiver using low-cost hardware-based RTK algorithms.