ICUAS 2019 Paper Abstract

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Paper ThB3.3

Chiella, Antonio Carlos Bana Chiella (Federal University of Minas Gerais), Teixeira, Bruno Otávio S. (Federal University of Minas Gerais), Pereira, Guilherme (West Virginia University)

State Estimation for Aerial Vehicles in Forest Environments

Scheduled for presentation during the Regular Session "Sensor Fusion I" (ThB3), Thursday, June 13, 2019, 14:10−14:30, Heritage A

2020 International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Athens, Greece

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Sensor Fusion, Navigation, Micro- and Mini- UAS

Abstract

Autonomous navigation of unnamed vehicles in a forest is a challenging task. In such environments, due to the canopies of the trees, GNSS-based navigation can be degraded or even unavailable. In this paper we propose a state estimation solution for aerial vehicles based on the fusion of GNSS, AHRS and LIDAR-based odometry. In our LIDAR odometry solution, the trunks of the trees are used in a feature-based scan-matching algorithm to estimate the relative movement of the vehicle. Our method uses a robust adaptive fusion algorithm based on the unscented Kalman filter. Experimental data collected during the navigation of a quadrotor in an actual forest environment is used to demonstrate the effectiveness of our approach.

 

 

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