摘要
具有广泛应用前景的微型无人机已成为各国学者的研究热点,而不依赖卫星导航系统的室内微型无人机自主导航引导技术是研究重点之一。结合近年国内外室内无人机自主导航引导技术发展情况,讨论了依靠自身传感器实现自主导航引导的关键技术问题,详细分析了无人机位姿的解算、无人机动态避障和同步定位与地图构建的关键技术的实现情况及其难点。最后,对室内无人机自主导航引导技术进行了展望。
With extensive promising applications, MAV （Micro Aerial Vehicle） has been a popular research subject for scholars all over the world, Non-GNSS （Global Navigation Satellite System） autonomous navigation and guidance technology of indoor MAV has been one of the key researches. With the review of the recent development of indoor MAV autonomous navigation and guidance technologies, the key points of indoor navigation and guidance technologies based on onboard sensors are discussed in this paper. The implement and difficulties of technologies of estimation of the attitude and position of MAV, collision avoidance in MAV flight, and simultaneous localization and mapping are analyzed in details respectively. At the end of this paper, the prospects of the technologies for indoor MAV autonomous navigation and guidance are proposed.
出处
《计算机应用与软件》
CSCD
北大核心
2012年第8期160-163,166,共5页
Computer Applications and Software
基金
国家自然科学基金项目(60904091
61104188
91016019)
"2009江苏高校优秀科技创新团队-飞行器智能导航
控制与健康管理"项目支持
江苏高校优势学科建设工程资助项目
南京航空航天大学基本科研业务费专项科研项目(NS2010084
NP2011049)
关键词
微型无人机
室内导航
视觉导航
同步定位与地图构建
MAV （Micro air vehicle） Indoor navigation Vision navigation SLAM （simuhaneous localisation and mapping）
