저가형 LIDAR를 장착한 소형 무인항공기의 3차원 실내 항법 및 자동비행
3-D Indoor Navigation and Autonomous Flight of a Micro Aerial Vehicle using a Low-cost LIDAR
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참고문헌
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초록
The Global Positioning System (GPS) is widely used to aid the navigation of aerial vehicles. However, the GPS cannot be used indoors, so alternative navigation methods are needed to bedeveloped for micro aerial vehicles (MAVs) flying in GPS-denied environments. In this paper, a realtimethree-dimensional (3-D) indoor navigation system and closed-loop control of a quad-rotor aerialvehicle equipped with an inertial measurement unit (IMU) and a low-cost light detection and ranging(LIDAR) is presented. In order to estimate the pose of the vehicle equipped with the two-dimensionalLIDAR, an octree-based grid map and Monte-Carlo Localization (MCL) are adopted. The navigationresults using the MCL are then evaluated by making a comparison with a motion capture system. Finally, the results are used for closed-loop control in order to validate its positioning accuracy duringprocedures for stable hovering and waypoint-following.
Abstract
The Global Positioning System (GPS) is widely used to aid the navigation of aerial vehicles. However, the GPS cannot be used indoors, so alternative navigation methods are needed to bedeveloped for micro aerial vehicles (MAVs) flying in GPS-denied environments. In this paper, a realtimethree-dimensional (3-D) indoor navigation system and closed-loop control of a quad-rotor aerialvehicle equipped with an inertial measurement unit (IMU) and a low-cost light detection and ranging(LIDAR) is presented. In order to estimate the pose of the vehicle equipped with the two-dimensionalLIDAR, an octree-based grid map and Monte-Carlo Localization (MCL) are adopted. The navigationresults using the MCL are then evaluated by making a comparison with a motion capture system. Finally, the results are used for closed-loop control in order to validate its positioning accuracy duringprocedures for stable hovering and waypoint-following.
참고문헌 (14)
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