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

王飞; 崔金强; 陈本美; 李崇兴

doi:10.3724/SP.J.1004.2013.01889

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

doi: 10.3724/SP.J.1004.2013.01889

1.
新加坡国立大学综合科学与工程研究生院新加坡 119077;
2.
新加坡国立大学电气和计算机工程系新加坡 119077

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出版历程
- 收稿日期: 2013-07-10
- 修回日期: 2013-08-29
- 刊出日期: 2013-11-20

A Comprehensive UAV Indoor Navigation System Based on Vision Optical Flow and Laser FastSLAM

1.
Graduate School for Integrative Sciences and Engineering, Na-tional University of Singapore (NUS), Singapore, Singapore;
2.
De-partment of Electrical and Computer Engineering, National Univer-sity of Singapore, Singapore, Singapore

More Information

Corresponding author: CHEN Ben-Mei

摘要

摘要: 提出了一套室内四旋翼无人机控制, 导航, 定位和地图构建的完整解决方案. 无人机机载系统包括三个主要传感器, 即惯性测量单元, 下视相机和激光扫描测距仪. 经过处理, 融合这些传感器的测量数据, 无人机能够可靠的估计自己的飞行速度和实时位置, 并且沿着室内的墙壁进行无碰撞飞行. 通过收集一个完整飞行实验的数据, 无人机的飞行路径和在室内的环境也可以被很好地估计出来. 这套系统中的自主导功能不需要任何远程传感信息或脱机计算能力. 这套室内导航方案的性能和可靠性已在实际的飞行实验中被验证.
- 无人机飞行控制 /
- 室内导航 /
- 同步定位与地图构建
Abstract: 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 rangefnder. With this setup, the UAV is able to estimate its own velocity and position robustly, while fying along the internal walls of a room without collisions. After one complete fight, 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 off-line computational power, while the mapping is done off-line. Complete fight tests have been carried out to verifyfdelity and performance the navigation solution.
- Unmanned aerial vehicle (UAV) fight control /
- indoor navigation /
- simultaneous localization and mapping (SLAM)

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