Research on Visual Autonomous Navigation Indoor for Unmanned Aerial Vehicle

• Published in: Shanghai jiao tong da xue xue bao Vol. 22; no. 2; pp. 252 - 256
• Main Author: 张洋 吕强 林辉灿 马建业
• Format: Journal Article
• Language: English
• Published: Shanghai Shanghai Jiaotong University Press 01.04.2017; Springer Nature B.V
• Subjects: Algorithms; Architecture; Autonomous navigation; Computer Science; Control systems; Control systems design; Electrical Engineering; Engineering; Flight control systems; Global positioning systems; GPS; Indoor environments; Life Sciences; Localization; Mapping; Materials Science; Military technology; Unknown environments; Unmanned aerial vehicles; Visual flight; unmanned aerial vehicle (UAV); TP 242; A; robot operating system; autonomous navigation; visual localization
• ISSN: 1007-1172; 1995-8188
• DOI: 10.1007/s12204-017-1829-1

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.