This paper presents a navigation system that enables quadrotor to navigate autonomously within GPS-denied below-canopy environment without GPS. The navigation system consists of the function of Simultaneous Localization and Mapping(SLAM) and path planning. The online real-time locating estimation is achieved by Semi-direct Visual Odometer(SVO) to calculate the odometer data; we locate the position using the fusion of laser radar data and the visual odometer in the front end, the graph-based optimization is used as an optimization mechanism to map in the back end. The path planning finds an obstacle-free trajectory based on the waypoints generated by the improved RRT* algorithm fitted with the Bezier curve.


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    Title :

    An Autonomously Navigation System for Forestry Quadrotor within GPS-denied Below-canopy Environment


    Contributors:
    Xia, Yu (author) / Song, Ming (author) / Zhang, JunGuo (author) / Hu, ChunHe (author)


    Publication date :

    2018-08-01


    Size :

    245082 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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