基于 SLAM-Lidar 技术的自主导航系统研究报告

冯 海华, 罗 倍, 凌 国明, 陈 伟钊

摘要

Unmanned Aerial Vehicle (UAVs) have been widely used in areas such as military reconnaissance and disaster relief. In the absence of GPS signals and other complex environments, vision-based aircraft positioning navigation and map construction have gradually become research hotspots.An accurate and stable navigation and positioning is the basis for the cruise robot to perform the cruise task, which can make the flight robot operate moreefficiently and reliably to complete the cruise task and reduce the labor intensity of the staff. The project team aims to solve problems that arise intraditional autonomous flight systems. A visual loop detection link was added to the graph-based laser SLAM system,combined with the FastSLAMalgorithm-based UAV landing method, and the square root volume fuzzy adaptive Kalman filter SLAM algorithm was improved to complete an autonomous navigation system for complex environments. This article further optimized and applied the algorithm of SLAM lidar technology to solve the disadvantages of SLAM navigation system such as inconvenience.

关键词

UAVs；SLAM；lidar；autonomous navigation system

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