Implementation ofVision PSOFastSLAM Algorithm for Unmanned Aerial Vehicles in Mine Environment
In order to realize the autonomous flight of Unmanned Aerial Vehicle (UAV) in the mine environment without GPS and also precise positioning it, an algorithm called Fast Simultaneous Location and Mapping (FastSLAM) which is based on RaoBlackwellized particle filter is proposed.Firstly, an artificial...
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Harbin University of Science and Technology Publications
2018-08-01
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| Series: | Journal of Harbin University of Science and Technology |
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| Online Access: | https://hlgxb.hrbust.edu.cn/#/digest?ArticleID=1559 |
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| author | LIU Shu-chi YANG Wei |
| author_facet | LIU Shu-chi YANG Wei |
| author_sort | LIU Shu-chi |
| collection | DOAJ |
| description | In order to realize the autonomous flight of Unmanned Aerial Vehicle (UAV) in the mine environment without GPS and also precise positioning it, an algorithm called Fast Simultaneous Location and Mapping (FastSLAM) which is based on RaoBlackwellized particle filter is proposed.Firstly, an artificial road sign suitable for underground mine was designed and the mathematical model of Simultaneous Location and Mapping (SLAM) algorithm for UAV was established.Then an improved algorithm called PSOFastSLAM was proposed to improve the accuracy, to estimate the pose of UAV and the position of guideposts and to achieve the accurate positioning and map building for UAV.Finally, the simulation experiment is simulated, simulation results show that PSOFastSLAM algorithm can improve the particle degeneration problem in FastSLAM algorithm effectively and improve the positioning accuracy of UAV. |
| format | Article |
| id | doaj-art-ae590778d4f64a018e1c441550094e8a |
| institution | Kabale University |
| issn | 1007-2683 |
| language | zho |
| publishDate | 2018-08-01 |
| publisher | Harbin University of Science and Technology Publications |
| record_format | Article |
| series | Journal of Harbin University of Science and Technology |
| spelling | doaj-art-ae590778d4f64a018e1c441550094e8a2025-08-22T09:08:50ZzhoHarbin University of Science and Technology PublicationsJournal of Harbin University of Science and Technology1007-26832018-08-012304758110.15938/j.jhust.2018.04.014Implementation ofVision PSOFastSLAM Algorithm for Unmanned Aerial Vehicles in Mine EnvironmentLIU Shu-chi0YANG Wei1School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing 100044, ChinaSchool of Electronic and Information Engineering, Beijing Jiaotong University, Beijing 100044, ChinaIn order to realize the autonomous flight of Unmanned Aerial Vehicle (UAV) in the mine environment without GPS and also precise positioning it, an algorithm called Fast Simultaneous Location and Mapping (FastSLAM) which is based on RaoBlackwellized particle filter is proposed.Firstly, an artificial road sign suitable for underground mine was designed and the mathematical model of Simultaneous Location and Mapping (SLAM) algorithm for UAV was established.Then an improved algorithm called PSOFastSLAM was proposed to improve the accuracy, to estimate the pose of UAV and the position of guideposts and to achieve the accurate positioning and map building for UAV.Finally, the simulation experiment is simulated, simulation results show that PSOFastSLAM algorithm can improve the particle degeneration problem in FastSLAM algorithm effectively and improve the positioning accuracy of UAV.https://hlgxb.hrbust.edu.cn/#/digest?ArticleID=1559simultaneous localization and map buildingunmanned aerial vehiclefastslam algorithmparticle swarm optimization |
| spellingShingle | LIU Shu-chi YANG Wei Implementation ofVision PSOFastSLAM Algorithm for Unmanned Aerial Vehicles in Mine Environment Journal of Harbin University of Science and Technology simultaneous localization and map building unmanned aerial vehicle fastslam algorithm particle swarm optimization |
| title | Implementation ofVision PSOFastSLAM Algorithm for Unmanned Aerial Vehicles in Mine Environment |
| title_full | Implementation ofVision PSOFastSLAM Algorithm for Unmanned Aerial Vehicles in Mine Environment |
| title_fullStr | Implementation ofVision PSOFastSLAM Algorithm for Unmanned Aerial Vehicles in Mine Environment |
| title_full_unstemmed | Implementation ofVision PSOFastSLAM Algorithm for Unmanned Aerial Vehicles in Mine Environment |
| title_short | Implementation ofVision PSOFastSLAM Algorithm for Unmanned Aerial Vehicles in Mine Environment |
| title_sort | implementation ofvision psofastslam algorithm for unmanned aerial vehicles in mine environment |
| topic | simultaneous localization and map building unmanned aerial vehicle fastslam algorithm particle swarm optimization |
| url | https://hlgxb.hrbust.edu.cn/#/digest?ArticleID=1559 |
| work_keys_str_mv | AT liushuchi implementationofvisionpsofastslamalgorithmforunmannedaerialvehiclesinmineenvironment AT yangwei implementationofvisionpsofastslamalgorithmforunmannedaerialvehiclesinmineenvironment |