To decrease the uncertainty of simultaneous localization and mapping of UAV, and at the same time, to increase the speed of searching the unknown environment at which UAV locates, an active SLAM trajectory programming algorithm is proposed based on optimal control. Therefore, UAV SLAM is tackled as a combined optimization problem, considering the precision of UAV location and mapping integrity. Based on the simplified UAV plane motion model, this algorithm is simulated and tested by comparing with the random SLAM algorithm. Simulation results show that this algorithm is effective.
UAV Active SLAM Trajectory Programming Based on Optimal Control
Advanced Materials Research ; 765-767 ; 1932-1935
2013-09-04
4 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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