Research on Visual Autonomous Navigation Indoor for Unmanned Aerial Vehicle

doi:10.1007/s12204-017-1829-1

上海交通大学学报（英文版） ›› 2017, Vol. 22 ›› Issue (2): 252-256.doi: 10.1007/s12204-017-1829-1

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Research on Visual Autonomous Navigation Indoor for Unmanned Aerial Vehicle

ZHANG Yang* (张洋), L ¨U Qiang (吕强), LIN Huican (林辉灿), MA Jianye (马建业)

(Department of Control Engineering, Academy of Armored Forces Engineering, Beijing 100072, China)

出版日期:2017-03-31 发布日期:2017-04-04
通讯作者: ZHANG Yang (张洋) E-mail:zhang yang tec@163.com

Research on Visual Autonomous Navigation Indoor for Unmanned Aerial Vehicle

ZHANG Yang* (张洋), L ¨U Qiang (吕强), LIN Huican (林辉灿), MA Jianye (马建业)

(Department of Control Engineering, Academy of Armored Forces Engineering, Beijing 100072, China)

Online:2017-03-31 Published:2017-04-04
Contact: ZHANG Yang (张洋) E-mail:zhang yang tec@163.com

摘要/Abstract

摘要： 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.

关键词: unmanned aerial vehicle (UAV), visual localization, autonomous navigation, robot operating system

Abstract: 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 words: unmanned aerial vehicle (UAV), visual localization, autonomous navigation, robot operating system

中图分类号:

TP 242

ZHANG Yang* (张洋), L ¨U Qiang (吕强), LIN Huican (林辉灿), MA Jianye (马建业). Research on Visual Autonomous Navigation Indoor for Unmanned Aerial Vehicle[J]. 上海交通大学学报（英文版）, 2017, 22(2): 252-256.

ZHANG Yang* (张洋), L ¨U Qiang (吕强), LIN Huican (林辉灿), MA Jianye (马建业). Research on Visual Autonomous Navigation Indoor for Unmanned Aerial Vehicle[J]. Journal of shanghai Jiaotong University (Science), 2017, 22(2): 252-256.

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Research on Visual Autonomous Navigation Indoor for Unmanned Aerial Vehicle

Research on Visual Autonomous Navigation Indoor for Unmanned Aerial Vehicle

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