A Novel Relocating Recognition Algorithm in Overlapping Region for Multi-UAVs Cluster

How improve the mapping efficiency and location accuracy of the multi-UAV cluster based on the distributed SLAM technology is a significant problem in overlapping regions. Therefore, this paper mainly proposes a novel relocation recognition algorithm for the multi-UAV cluster. First, the autonomous...

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Bibliographic Details
Published in2022 IEEE International Conference on Unmanned Systems (ICUS) pp. 1089 - 1094
Main Authors Li, Chen, Qi, Xuelei, Zhao, Juntao, Liao, Xuanhong, Lin, Zitian, Ma, Hongjun, Liang, Xinkai
Format Conference Proceeding
LanguageEnglish
Published IEEE 28.10.2022
Subjects
Clustering algorithms
Data communication
Location awareness
overlapping region
Reliability
relocation
Simultaneous localization and mapping
Three-dimensional displays
UAV cluster
Vocabulary
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Summary:How improve the mapping efficiency and location accuracy of the multi-UAV cluster based on the distributed SLAM technology is a significant problem in overlapping regions. Therefore, this paper mainly proposes a novel relocation recognition algorithm for the multi-UAV cluster. First, the autonomous localization algorithm based on visual-inertial fusion is proposed. Then, the algorithm for vocabulary updating and relocating is designed. Finally, practical testing is implemented to verify and improve the efficiency of exploration ability and the accuracy of the autonomous navigation and positioning in the complex overlapping regions.
ISSN:2771-7372
DOI:10.1109/ICUS55513.2022.9986862