Journal
AEROSPACE SCIENCE AND TECHNOLOGY
Volume 124, Issue -, Pages -Publisher
ELSEVIER FRANCE-EDITIONS SCIENTIFIQUES MEDICALES ELSEVIER
DOI: 10.1016/j.ast.2022.107521
Keywords
Micro aerial vehicles; Collision avoidance; Sensor fusion; Localization; Motion and path planning; Motion control
Categories
Funding
- National Key Research and Development Program of China [2018AAA0102401]
- National Natural Science Foundation of China [62022060, 61773278, 61873340, 61903349, 62073234, 62003236]
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Autonomous navigation in GPS-denied environments is a challenging task for Micro-Aerial Vehicles (MAVs). This paper proposes a solution based on perception system and motion planning control system, which can achieve fast and robust MAV autonomous navigation.
Autonomous navigation in GPS-denied environments is a challenging task for MAV (Micro-Aerial Vehicle). That needs the MAV to do localization quickly and robustly while avoiding obstacles without the priori knowledge of environment. The limited onboard resources also restrict perceptive capability and computation. In this paper, a completed solution about platform design and software architecture is proposed. The perception system is proposed for localization and perceiving the environment. The motion planning and control system are presented for collision avoidance. Experimental testing reveals that the proposed solution can achieve fast and robust MAV autonomous navigation in GPS-denied environments.(c) 2022 Elsevier Masson SAS. All rights reserved.
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