Novel Approach to Position and Orientation Estimation in Vision-Based UAV Navigation

Zhang, J; Wu, Yirong; Liu, W; Chen, Xiaoying

doi:10.1109/taes.2010.5461649

Cited by 50 publications

(18 citation statements)

References 18 publications

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“…RRT* is an optimal extension to the standard RRT algorithm [17]. Path planning of UAVs in a 3D environment with the evolutionary algorithm (EA)-based controllers is presented in [30][31][32] using the B-spline curve-based path representation. However, the results ignored obstacle avoidance.…”

Section: Introductionmentioning

confidence: 99%

Development of Flight Path Planning for Multirotor Aerial Vehicles

et al. 2015

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This study addresses the flight-path planning problem for multirotor aerial vehicles (AVs). We consider the specific features and requirements of real-time flight-path planning and develop a rapidly-exploring random tree (RRT) algorithm to determine a preliminary flight path in three-dimensional space. Since the path obtained by the RRT may not be optimal due to the existence of redundant waypoints. To reduce the cost of energy during AV's flight, the excessive waypoints need to be refined. We revise the A-star algorithm by adopting the heading of the AV as the key indices while calculating the cost. Bezier curves are finally proposed to smooth the flight path, making it applicable for real-world flight.

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Section: Introductionmentioning

confidence: 99%

Development of Flight Path Planning for Multirotor Aerial Vehicles

et al. 2015

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“…The challenge of simple, less costy and efficient indoor navigation schemes has been undertaken by many UAV research groups [1], [3], [4]. Different techniques such as pressure sensors for altitude, magneto-resistive magnetometer, laser range finder, radar and ultra sound for position estimation and obstacles detection have been investigated [5], [3], [4].…”

Section: Introduction and Related Workmentioning

confidence: 99%

“…Different techniques such as pressure sensors for altitude, magneto-resistive magnetometer, laser range finder, radar and ultra sound for position estimation and obstacles detection have been investigated [5], [3], [4]. In this regard, employing vision-based systems…”

Section: Introduction and Related Workmentioning

confidence: 99%

“…Mohamed.Karamohamed@postgrad.manchester.ac.uk Sourav.Patra@manchester.ac.uk Alexander.Lanzon@manchester.ac.uk (computer vision systems) for autonomous navigation has attained considerable interest [4] due to the fact that vision based systems are lightweight, passive and produce rich information about the motion of the vehicle [5]. The vision based navigation algorithms were used initially for ground mobile robots and then imported to UAV systems [6].…”

Section: Introduction and Related Workmentioning

confidence: 99%

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Designing simple indoor navigation system for UAVs

Mohamed

Patra

Lanzon

2011

2011 19th Mediterranean Conference on Control &Amp; Automation (MED)

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Abstract-The wide range of applications and configurations of UAVs raises the need for different types of navigation methodologies compared to the conventional INS/GPS system. For instance, the limitation in cost, size and weight of indoor UAVs makes conventional navigation system unsuitable for these vehicles. In addition, the INS/GPS navigation system is impractical for indoor applications because the GPS signal is not reliable in closed territories. This paper proposes a new, cost-effective and simple indoor navigation system using three laser beams fixed to the body of the UAV and shooting to the ground. Then, a camera and computer vision algorithm are used to capture the laser dots on the ground and determine their coordinates. The position of laser dots is used to obtain full information about the position and orientation of the UAV. The proposed navigation system can be classified as a vision based navigation system, yet, it does not depend highly on the quality of the video shots taken from the vision camera and does not require a heavy image processing algorithm. An illustrative simulation study is conducted to demonstrate the validity of the proposed navigation system.

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“…Recently, Zhang et. al [32] proposed an approach that uses the terrain DEM directly to estimate the position and orientation of UASs. In this approach the position and orientation estimation is formulated as a tracking problem and solved by using an extended Kalman filter (EKF).…”

Section: Related Work: Landmark Based Approachmentioning

confidence: 99%

Augmented UAS navigation in GPS denied terrain environments using synthetic vision

Wang

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Novel Approach to Position and Orientation Estimation in Vision-Based UAV Navigation

Cited by 50 publications

References 18 publications

Development of Flight Path Planning for Multirotor Aerial Vehicles

Development of Flight Path Planning for Multirotor Aerial Vehicles

Designing simple indoor navigation system for UAVs

Augmented UAS navigation in GPS denied terrain environments using synthetic vision

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