Perception and Navigation for an Autonomous quadrotor in GPS-denied Environments

Perception and Navigation for Autonomous Rotorcraft

To enable a quadrotor to navigate autonomously, a set of interdependent requirements must be addressed, including control, state estimation, map learning, and mission planning. Autonomous navigation requires stabilization of the vehicle. To stabilize the vehicle, the state of the vehicle must be known. In GPS-denied environments, state estimation is calculated using simultaneous localization an...

A Hierarchical SLAM/GPS/INS Sensor Fusion with WLFP for Flying Robo-SAR's Navigation

In this paper, we present the results of a hierarchical SLAM/GPS/INS/WLFP sensor fusion to be used in navigation system devices. Due to low quality of the inertial sensors, even a short-term GPS failure can lower the integrated navigation performance significantly. In addition, in GPS denied environments, most navigation systems need a separate assisting resource, in order to increase the avail...

Distributed Control and Navigation System for Quadrotor UAVs in GPS-Denied Environments

The problem of developing distributed control and navigation system for quadrotor UAVs operating in GPS-denied environments is addressed in the paper. Cooperative navigation, marker detection and mapping task solved by a team of multiple unmanned aerial vehicles is chosen as demo example. Developed intelligent control system complies with on 4D\RCS reference model and its implementation is base...

Autonomous Navigation and Mapping in GPS-Denied Environments at Defence R&D Canada

Scientists in the Autonomous Intelligent Systems Section (AISS) at Defence R&D Canada (DRDC) undertake research to enhance the state-of-the-art in autonomous localization, navigation and mapping for unmanned vehicles. Although related work relies on the availability of GPS as part of an integrated navigation system, AISS recognizes that fieldable autonomous military ground and air assets will b...

Visual-Inertial based autonomous navigation of an Unmanned Aerial Vehicle in GPS-Denied environments