一套完整的基于视觉光流和激光扫描测距的室内无人机导航系统(英文)

• 作 者: 王飞 崔金强 陈本美 李崇兴
• 机 构: Graduate School for Integrative Sciences and Engineering,National University of Singapore(NUS),Depar
• 出 处: 自动化学报
• 发表日期: 2013年11期
• 关键词: Unmanned aerial vehicle(UAV) flight control indoor navigation simultaneous local

This paper presents a comprehensive control, navigation, localization and mapping solution for an indoor quadrotor unmanned aerial vehicle(UAV) system. Three main sensors are used onboard the quadrotor platform, namely an inertial measurement unit, a downward-looking camera and a scanning laser range finder. With this setup, the UAV is able to estimate its own velocity and position robustly, while flying along the internal walls of a room without collisions. After one complete flight, with the collected data the historic UAV path and the indoor environment can be well estimated. The autonomous navigation part of the system does not require any remote sensory information or of-line computational power, while the mapping is done of-line. Complete flight tests have been carried out to verify fidelity and performance the navigation solution.