Premium
An architecture for robust UAV navigation in GPS‐denied areas
Author(s) -
PerezGrau Francisco J.,
Ragel Ricardo,
Caballero Fernando,
Viguria Antidio,
Ollero Anibal
Publication year - 2018
Publication title -
journal of field robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.152
H-Index - 96
eISSN - 1556-4967
pISSN - 1556-4959
DOI - 10.1002/rob.21757
Subject(s) - global positioning system , motion planning , odometry , visual odometry , obstacle avoidance , artificial intelligence , computer science , architecture , computer vision , robot , key (lock) , obstacle , monte carlo localization , mobile robot , software architecture , real time computing , software , geography , telecommunications , computer security , archaeology , programming language
This article presents a software architecture for safe and reliable autonomous navigation of aerial robots in GPS‐denied areas. The techniques employed within key modules from this architecture are explained in detail, such as a six‐dimensional localization approach based on visual odometry and Monte Carlo localization, or a variant of the Lazy Theta* algorithm for motion planning. The aerial robot used to demonstrate this approach has been extensively tested over the past 2 years for localization and state estimation without any external positioning systems, autonomous local obstacle avoidance, and local path planning among other tasks. This article describes the architecture and main algorithms used to achieve these goals to build a robust autonomous system.