A Quadrotor Helicopter Localization Method Using 2D Laser Scanner in Structured Environment

被引：0
|
作者：
He, Xiang [1 ]
Cai, Zhihao [1 ]
Yan, Ruyi [1 ]
机构：
[1] Beihang Univ, Natl Key Lab Sci & Technol, Beijing 100191, Peoples R China
来源：
2013 CHINESE AUTOMATION CONGRESS (CAC) | 2013年
关键词：
laser; feature; ICP; quadrotor; indoor;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A method of localization for quadrotor helicopter using 2D laser scanner in structured environment is discussed. In the case of no GPS signal, a research on obtaining location and orientation only relying on the perception information provided by the airborne laser scanner is carried out, in order to correct the data of the inertial measurement unit and to improve the aircraft self-positioning accuracy. According to the characteristics of data obtained by the two-dimensional laser scanner, line feature extraction, segment matching, and iterative closest point ICP algorithm is used to obtain the horizontal position and orientation estimation. In the experiment, HOKUYO UTM30LX laser scanner is used to simulate the methods described above, and verify the correctness.
引用
收藏
页码：671 / 674
页数：4
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