![]() ![]() Isler, “Sensor planning for a symbiotic UAV and UGV system for precision agriculture,” IEEE Transactions on Robotics, vol. Burschka, “Toward a fully autonomous UAV: Research platform for indoor and outdoor urban search and rescue,” IEEE Robotics and Automation Society, vol. The indoor flight experiment demonstrates that the proposed system for small UAVs with low-cost devices can navigate without collision in fully autonomous missions while establishing accurate surrounding maps. ![]() The software modules run onboard in real time with limited onboard computational capability. In addition, the computationally efficient collision-free path planning algorithm is proposed and verified through simulations. The pose output of the ESKF is then integrated into the open-source simultaneous location and mapping (SLAM) algorithm for pose-graph optimization and loop closing. ![]() The error-state Kalman filter (ESKF) based on the dynamic model for low-cost IMU-driven systems is proposed, and visual odometry from the RGB-D camera and height measurement from the altimeter are fed into the measurement update process of the ESKF. The hardware platform used to test the proposed algorithm is a small, custom-built UAV platform equipped with an onboard computer, RGB-D camera, 2D light detection and ranging (LiDAR), and altimeter. This paper proposes a novel complete navigation system for autonomous flight of small unmanned aerial vehicles (UAVs) in GPS-denied environments. ![]()
0 Comments
Leave a Reply. |
Details
AuthorWrite something about yourself. No need to be fancy, just an overview. ArchivesCategories |