Evaluation of signal smoothing algorithms for stability of a quadrotor MAV

The control of mobile robots involves the use of wireless signals. In this paper, we compare and evaluate the real time performance of multiple smoothing algorithms for a pulse width modulated digital signal on an Arduino Uno microcontroller board. The input signal is generated in a real world setting via a manually controlled RC transmitter-receiver setup. The signal smoothing is performed on the input signal and performance is evaluated in terms of standard deviation and signal to noise ratio. We also focus on the needs of a critical real-time system, a remotely piloted UAV, and perform a secondary analysis in terms of mean run time and signal accuracy to find the most suitable algorithm.