Autonomous Flight in GPS-denied Environment is a challenging task for multiple unmanned aerial vehicles (UAVs). That needs the UAVs perform simultaneous localization and mapping (SLAM) in GPS-denied environment and motion planning in environment populated with obstacles. To solve this problem, this paper proposes a framework for multi-UAV relative localization and motion planning. Specifically, the relative state estimation system is proposed for relative localization and mapping of multi-UAV in GPS-denied environments. And the motion planning system is proposed for multi-UAV trajectory planning, collision avoidance and improving the safety and clearance of the trajectory. A set of experiments show that the method proposed in this paper can perform efficient and accurate localization and motion planning for autonomous flight in GPS-denied environment.


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    Title :

    Autonomous Flight for Multi-UAV in GPS-Denied Environment


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Ren, Zhang (editor) / Wang, Mengyi (editor) / Hua, Yongzhao (editor) / Lu, Junjie (author) / Shen, Hongming (author) / Pan, Lianrong (author) / Zhang, Xuewei (author) / Tian, Bailing (author) / Zong, Qun (author)


    Publication date :

    2022-07-29


    Size :

    10 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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