@inproceedings{8018792f21db443bb1bdb867cf7c7e7c,
title = "High-Accuracy Robust SLAM and Real-Time Autonomous Navigation of UAV in GNSS-denied Environments",
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{\textquoteright}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.",
keywords = "Autonomous navigation, Multiple sensor information fusion, Path planning, SLAM, UAV",
author = "Zhuoyi Li and Chunhui Zhao and Jiayu Wang and Xiaolei Hou and Jinwen Hu and Quan Pan and Caijuan Jia",
note = "Publisher Copyright: {\textcopyright} 2022, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; International Conference on Guidance, Navigation and Control, ICGNC 2020 ; Conference date: 23-10-2020 Through 25-10-2020",
year = "2022",
doi = "10.1007/978-981-15-8155-7_92",
language = "英语",
isbn = "9789811581540",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "1099--1108",
editor = "Liang Yan and Haibin Duan and Xiang Yu",
booktitle = "Advances in Guidance, Navigation and Control - Proceedings of 2020 International Conference on Guidance, Navigation and Control, ICGNC 2020",
}