GPS不達環境における飛行ロボットの経路計画のための相対測位
Relative Positioning for Aerial Robot Path Planning in GPS Denied Environment
GPSが使えない山火事現場で、複数の自律UAVが基地との相対位置を推定し、協調探索と帰還を可能にする測位手法を提案した。
著者: Farzad Sanati
分類: cs.RO, cs.AI
原文アブストラクト
One of the most useful applications of intelligent aerial robots sometimes called Unmanned Aerial Vehicles (UAV) in Australia is known to be in bushfire monitoring and prediction operations. A swarm of autonomous drones/UAVs programmed to work in real-time observing the fire parameters using their onboard sensors would be valuable in reducing the life-threatening impact of that fire. However autonomous UAVs face serious challenges in their positioning and navigation in critical bushfire conditions such as remoteness and severe weather conditions where GPS signals could also be unreliable. This paper tackles one of the most important factors in autonomous UAV navigation, namely Initial Positioning sometimes called Localisation. The solution provided by this paper will enable a team of autonomous UAVs to establish a relative position to their base of operation to be able to commence a team search and reconnaissance in a bushfire-affected area and find their way back to their base without the help of GPS signals.