Research on visual autonomous navigation indoor for unmanned aerial vehicle
- 96 Downloads
The aim of this paper is to study visual autonomous navigation of unmanned aerial vehicle (UAV) in indoor global positioning system (GPS) denied environment. The UAV platform of the autonomous navigation flight control system is designed and built. The principle of visual localization and mapping algorithm is studied. According to the characteristics of UAV platform, the visual localization is designed and improved. Experimental results demonstrate that the UAV platform can realize the tasks of autonomous localization, navigation and mapping based on visual in unknown environments.
Key wordsunmanned aerial vehicle (UAV) visual localization autonomous navigation robot operating system
CLC numberTP 242
Unable to display preview. Download preview PDF.
- CHEN X L, TANG Q, CHE J, et al. Localization and control of quadrotor aircraft based on indoor vision [J]. Ordnance Industry Automation, 2012, 31(5): 61–64 (in Chinese).Google Scholar
- ZHANG J W, ZHANG L W, YING H, et al. Open source robot operating system: ROS [M]. Beijing: Science Press, 2012: 128–139 (in Chinese).Google Scholar