Fast SLAM for MAV Using Relative Position Measurements

摘要：

　　We studied the efficient SLAM method to navigate MAV(Micro Aerial Vehicle)in indoor situations.It is difficult to use GPS indoors,which is generally used for robot navigation.In this field,the probabilistic approach achieves great success,and SLAM(Simultaneous Localization and Mapping)is regarded effective.An application for MAV is limited because calculation time cannot keep up with the speed of MAVs motion,and the output of INS diverges because of drift error.We studied various algorithms,and implemented SLAM using iterative closest point(ICP)algorithm.We confirmed ICP works well,and studied disadvantages of ICP.

关键词： MAV SLAM Particle filter ICP

作者: Ryosuke Fujiwara Takeshi Tsuchiya Daisuke Kubo

作者单位: The University of Tokyo,Hongo,Bunkyoku,Tokyo,Japan JAXA,Chofu,Tokyo,Japan

会议类型: 国际会议

会议名称: 2014 Asia-Pacific International Symposium on Aerospace Technology(2014亚太航空航天技术学术会议)

会议地点: 上海

会议语种:英文

页码: 1-6

在线出版日期: 2014-09-24（万方平台首次上网日期，不代表论文的发表时间）