Abstract
AbstractAutonomous Flight in GPS-denied Environment is a challenging task for multiple unmanned aerial vehicles (UAVs). That needs the UAVs perform simultaneous localization and mapping (SLAM) in GPS-denied environment and motion planning in environment populated with obstacles. To solve this problem, this paper proposes a framework for multi-UAV relative localization and motion planning. Specifically, the relative state estimation system is proposed for relative localization and mapping of multi-UAV in GPS-denied environments. And the motion planning system is proposed for multi-UAV trajectory planning, collision avoidance and improving the safety and clearance of the trajectory. A set of experiments show that the method proposed in this paper can perform efficient and accurate localization and motion planning for autonomous flight in GPS-denied environment.KeywordsAuto flightSimultaneous localization and mappingMotion planningRelative state estimation
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