3D SCENE RECONSTRUCTION AND PATH PLANNING METHOD FOR UAV IN GNSS-DENIED ENVIRONMENT
发布时间：2025-01-07 点击次数：
DOI码：10.5194/isprs-annals-x-3-w1-2022-69-2022
所属单位：School of Remote Sensing and Information Engineering, Wuhan University, China
发表刊物：14TH GEOINFORMATION FOR DISASTER MANAGEMENT, GI4DM 2022, VOL. 10-3
关键字：GNSS-denied,UAV,Laser SLAM,Path Planning and Optimization,PRM
摘要：Today, natural disasters have a huge impact all over the world, while GNSS plays an important role in disaster relief and rescue. However, when the ground surface is severely damaged and covered, satellite positioning means are denied. In addition, disaster site conditions are often very complex and may require unmanned robots such as UAVs for pre-surveying. To address the raised problem, we reconstructed the 3D scene by laser SLAM; improved PRM path planning method for better computational efficiency while solving feasible path results; and realized UAV autonomous flight along the planned path in GNSS-denied environment. The experiments prove that the reconstructed scene map provides a feasible means for UAV autonomous navigation in GNSS-denied environment, and the proposed path planning method has a significant improvement in computational efficiency.
合写作者： Mingyao,Hu, Qingeng,Zhao, Xuzhe,Duan, Pengcheng,Jin,Ai, Qingwu
论文类型：会议论文
学科门类：工学
文献类型：C
卷号：10
期号：3/W1-2022
页面范围：69-75
ISSN号：2194-9042
是否译文：否
CN号：Scopus:2-s2.0-85142396779,EI:20224713158922,WOS:001190462700010
发表时间：2022-11-01
