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Volume & Issue no: Volume 4, Issue 1, January 2015

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Title:
NON GPS NAVIGATION USING SIMULTANEOUS LOCALIZATION AND MAPPING IN UAV
Author Name:
RAZEEN RIDHWAN U,AASISH C, BHARATHRAJ S, MOHAMMED AZARUDEEN JAFFURULLAH, CYRIL ANTHONY A
Abstract:
ABSTRACT This project is solution for the task of autonomous navigation of a UAV through a completely unknown environment by using solely a single camera and inertial sensors onboard. Many existing solutions suffer from the problem of drift from the dependency on a clean GPS signal. The novelty in the here-presented approach is to use a monocular simultaneous localization and mapping (SLAM) framework to stabilize the vehicle in six degrees of freedom. This way, we overcome the problem of both the drift and the GPS dependency. The pose estimated by the visual SLAM algorithm is used in a linear optimal controller that allows us to perform all basic maneuvers Such as hovering, set point and trajectory following, vertical takeoff, and landing. All Calculations including SLAM and controller are running in real time and online while the UAV is flying. No offline processing or preprocessing is done. We will show real experiments that demonstrate that the vehicle can fly autonomously in an unknown and unstructured environment. Keywords: SLAM based navigation, NON GPS navigation, vision based navigation and optical flow navigation using KINECT.
Cite this article:
RAZEEN RIDHWAN U,AASISH C, BHARATHRAJ S, MOHAMMED AZARUDEEN JAFFURULLAH, CYRIL ANTHONY A , " NON GPS NAVIGATION USING SIMULTANEOUS LOCALIZATION AND MAPPING IN UAV" , International Journal of Application or Innovation in Engineering & Management (IJAIEM) , Volume 4, Issue 1, January 2015 , pp. 197-205 , ISSN 2319 - 4847.
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