This paper focuses on developing a robust solution for the Simultaneous Localization and Mapping (SLAM) problem to increase the autonomy of Unmanned Aerial Vehicles (UAV). The investigated topics are related to data fusion, localization, features extraction and matching, map building, 3D pose estimation and SLAM. One important aspect of the autonomous navigation which should be investigated as well as the fusion of data from the different sensor. The data fusion algorithms are very important and their performances are closely dependent on both performances of the constructed map and the accuracy of the UAV position within this map. Optimal and robust filter using centred Gaussian noises is implemented. The original contribution of this work is the proposition and the adaptation of the Extended Kalman Filter (EKF) to solve the Inertial Navigation Systems INS/3D laser UAV navigation problem. Simulation results for 3D flight scenario are presented to demonstrate the advantages of the hybrid localization based on EKF compared with results of the INS relative localization based technique. Good results were obtained with the EKF using noise process and/or measurement noise characteristics, particularly in the case of centred Gaussian noises.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Simultaneous Localization and Mapping Algorithm based on 3D Laser for Unmanned Aerial Vehicle


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Bououden, Sofiane (Herausgeber:in) / Chadli, Mohammed (Herausgeber:in) / Ziani, Salim (Herausgeber:in) / Zelinka, Ivan (Herausgeber:in) / Demim, Fethi (Autor:in) / Nemra, Abdelkrim (Autor:in) / Mouali, Oumima (Autor:in) / Hedir, Mehdia (Autor:in) / Rouigueb, Abdenebi (Autor:in) / Hamerlain, Mustapha (Autor:in)

    Kongress:

    International Conference on Electrical Engineering and Control Applications ; 2019 ; Constantine, Algeria November 19, 2019 - November 21, 2019



    Erscheinungsdatum :

    30.09.2020


    Format / Umfang :

    18 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Design and Implementation of an Unmanned Aerial Vehicle for Simultaneous Localization and Mapping Algorithm

    Dang, Khoa Nguyen / Van, Tran Thi / Solanki, Vijender Kumar et al. | Springer Verlag | 2025


    Dynamic mapping method based on visual SLAM (Simultaneous Localization and Mapping) of unmanned aerial vehicle

    YAO LINA / WANG YAOZHENG / ZHANG SHUYUAN et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    UNMANNED AERIAL VEHICLE AND LOCALIZATION METHOD FOR UNMANNED AERIAL VEHICLE

    XIE LIHUA / NGUYEN PHAM NHAT THIEN MINH / CAO MUQING et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    UNMANNED AERIAL VEHICLE AND LOCALIZATION METHOD FOR UNMANNED AERIAL VEHICLE

    XIE LIHUA / NGUYEN PHAM NHAT THIEN MINH / CAO MUQING et al. | Europäisches Patentamt | 2022

    Freier Zugriff