Knowledge Commons of Institute of Automation,CAS
A Localization and Trajectory Planning Method for UAVs with Visual-Inertial Odometry | |
Xu WB(徐文博)1,2![]() ![]() ![]() | |
2022 | |
会议名称 | 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) |
页码 | 710-715 |
会议日期 | 2022-7-11 |
会议地点 | 日本札幌 |
摘要 | Unmanned aerial vehicles (UAV) are capable of operating tasks in challenging environments of high risk for humans. However, these tasks usually require UAVs to plan motion in environments where GPS is unavailable. This paper implements a UAV system of motion planning and obstacle avoidance in GPS-denied indoor environments with the visual-inertial odometry (VIO) approach. Collecting measurements from stereo cameras and IMU, the visual-inertial odometry estimates the states of the UAV by jointly minimizing visual and inertial residuals and solving the nonlinear optimization problem. Then we utilize the minimum snap method to generate feasible trajectories based on the estimated states provided by VIO and an obstacle map of the indoor environment. In order to verify the effectiveness of the proposed system, we perform experiments on a UAV platform and the results show that the UAV accurately follows the planned trajectory and avoids obstacles without the aid of GPS. |
是否为代表性论文 | 是 |
七大方向——子方向分类 | 智能机器人 |
国重实验室规划方向分类 | 其他 |
是否有论文关联数据集需要存交 | 否 |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/52405 |
专题 | 中国科学院自动化研究所 复杂系统认知与决策实验室_决策指挥与体系智能 |
通讯作者 | Xu WB(徐文博) |
作者单位 | 1.中国科学院自动化研究所 2.中国科学院大学 |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Xu WB,Lin ZY,Wang W. A Localization and Trajectory Planning Method for UAVs with Visual-Inertial Odometry[C],2022:710-715. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
WenboXuAIM2022.pdf(4576KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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