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  • 标题:Multi-sensor three-dimensional Monte Carlo localization for long-term aerial robot navigation
  • 本地全文:下载
  • 作者:Francisco J Perez-Grau ; Fernando Caballero ; Antidio Viguria
  • 期刊名称:International Journal of Advanced Robotic Systems
  • 印刷版ISSN:1729-8806
  • 电子版ISSN:1729-8814
  • 出版年度:2017
  • 卷号:14
  • 期号:5
  • DOI:10.1177/1729881417732757
  • 出版社:SAGE Publications
  • 摘要:This article presents an enhanced version of the Monte Carlo localization algorithm, commonly used for robot navigation in indoor environments, which is suitable for aerial robots moving in a three-dimentional environment and makes use of a combination of measurements from an Red,Green,Blue-Depth (RGB-D) sensor, distances to several radio-tags placed in the environment, and an inertial measurement unit. The approach is demonstrated with an unmanned aerial vehicle flying for 10 min indoors and validated with a very precise motion tracking system. The approach has been implemented using the robot operating system framework and works smoothly on a regular i7 computer, leaving plenty of computational capacity for other navigation tasks such as motion planning or control.
  • 关键词:Aerial robotics ; localization ; autonomous vehicle navigation
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