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Developing a Heuristic Filter Utilizing Firefly Optimization Algorithm: A Case Study on State Estimation of a Slung Payload from a Quadrotor

Raoufi, Mohsen | 2018

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 51040 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Nobahari, Hadi
  7. Abstract:
  8. The aim of the present thesis is to develop a novel heuristic filter by utilizing Firefly Optimization Algorithm for state estimation of nonlinear, non-Gaussian systems. The proposed filter formulates the estimation problem as a dynamic, stochastic one. The swarm intelligence of the fireflies enables the filter to find and track the best estimation. To estimate the states of a system, the model of the system is required. Hence, an 8-DoF quadrotor with slung payload system, as a case study, is modeled by the tensor method. In this case, as a highly nonlinear system, in order not to rely on extra sensors for monitoring swing-angle, the estimation of payload states is needed. In this regard, the measurement system includes an Attitude and Heading Reference System (AHRS), and a GPS in the simulation. In the implementation phase, an AHRS in conjunction with a downward looking camera with high sample-time provide the measurement data. In order to verify the proposed model, a variety of simulations with various assumptions are conducted. Then, some well-known estimation benchmarks are used to evaluate the performance of Firefly Filter. The results show successful performance of the developed filter in comparison with other nonlinear filters such as EKF, Schmidt-Orthogonal UKF, and Particle Filter. Finally, the filter estimates the state of the quadrotor and its slung payload in both simulation and implementation phases. The results of the implementation phase demonstrate the capability of the proposed filter for real-time applications
  9. Keywords:
  10. State Estimation ; Nonlinear Filters ; Firefly Filter ; Heuristic Filter ; Firefly Optimization Algorithm ; Quadrotor with Slung Payload

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