UAVs are becoming extremely essential these days for many applications such as HADR missions. During these missions, there can be a loss of GPS signal due to challenging environments and terrains, and this can hinder the missions so there is a need for a system that provides UAVs the capability to do these missions even in GPS-denied environments. In most of such missions, swarms of UAVs are working. Hence, the aim of this research paper is to propose a reliable GPS-denied navigation system for swarms. The major challenge with the swarm navigation is to achieve inter-UAV collision avoidance. So, this paper mainly focuses on prevention of inter UAV collision. Therefore, to accomplish this objective, the integration of estimations by Visual Odometry and UWB module is proposed in this paper.
UAV Swarm Navigation in GNSS Denied Region with Formation Control
2023-05-26
1853328 byte
Conference paper
Electronic Resource
English
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