High-Accuracy Robust SLAM and Real-Time Autonomous Navigation of UAV in GNSS-denied Environments

Zhuoyi Li, Chunhui Zhao, Jiayu Wang, Xiaolei Hou, Jinwen Hu, Quan Pan, Caijuan Jia

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

One of the most challenging tasks of UAV is to quickly and safely autonomous navigation and reconstruction in unknown and GNSS-denied environments. In this paper, we present a feasible design and development of a UAV system that is capable of autonomous navigation and rapid reconstruction in GNSS-denied environments. A multiple sensor information fusion based SLAM method is proposed to achieve UAV’s localization and reconstruction without GNSS reception, and a local path planner is then proposed based on A* and 3DVFH+ that iteratively searches for the optimal local path. Each subsystem is separately tested for their effectiveness, and comprehensive experiments are conducted to evaluate the performance of the presented system in GNSS-denied complex environments.

Original languageEnglish
Title of host publicationAdvances in Guidance, Navigation and Control - Proceedings of 2020 International Conference on Guidance, Navigation and Control, ICGNC 2020
EditorsLiang Yan, Haibin Duan, Xiang Yu
PublisherSpringer Science and Business Media Deutschland GmbH
Pages1099-1108
Number of pages10
ISBN (Print)9789811581540
DOIs
StatePublished - 2022
EventInternational Conference on Guidance, Navigation and Control, ICGNC 2020 - Tianjin, China
Duration: 23 Oct 202025 Oct 2020

Publication series

NameLecture Notes in Electrical Engineering
Volume644 LNEE
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

Conference

ConferenceInternational Conference on Guidance, Navigation and Control, ICGNC 2020
Country/TerritoryChina
CityTianjin
Period23/10/2025/10/20

Keywords

  • Autonomous navigation
  • Multiple sensor information fusion
  • Path planning
  • SLAM
  • UAV

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