Please use this identifier to cite or link to this item:
https://doi.org/10.1109/tie.2020.3008378
| Title: | Towards Autonomy of Micro Aerial Vehicles in Unknown and GPS-denied Environments | Authors: | Zhou, Yu Lai, Shupeng Cheng, Huimin Abdul Hamid, Mohamed Redhwan Wang, Pengfei Zhu, Junji Gao, Zhi Ma, Zhengtian Bi, Yingcai Lin, Feng Chen, Ben M |
Issue Date: | 25-Jul-2020 | Publisher: | Institute of Electrical and Electronics Engineers (IEEE) | Citation: | Zhou, Yu, Lai, Shupeng, Cheng, Huimin, Abdul Hamid, Mohamed Redhwan, Wang, Pengfei, Zhu, Junji, Gao, Zhi, Ma, Zhengtian, Bi, Yingcai, Lin, Feng, Chen, Ben M (2020-07-25). Towards Autonomy of Micro Aerial Vehicles in Unknown and GPS-denied Environments. IEEE Transactions on Industrial Electronics : 1-1. ScholarBank@NUS Repository. https://doi.org/10.1109/tie.2020.3008378 | Abstract: | In this paper, we present a comprehensive design and implementation for a micro aerial vehicle (MAV) that is able to perform 3D autonomous navigation and obstacle avoidance in cluttered and realistic unknown environments without the aid of GPS and other external sensors or markers. To achieve these autonomous missions, modularized components are developed for the MAV, including visual inertial odometry (VIO), 3D occupancy mapping and motion planning. The proposed system is implemented to run on a small embedded computer in real-time. It is demonstrated to be robust in both simulation and real flight experiments. The demonstration video is available at: https://youtu.be/KUKzsnORm-4. | Source Title: | IEEE Transactions on Industrial Electronics | URI: | https://scholarbank.nus.edu.sg/handle/10635/171731 | ISSN: | 02780046 15579948 |
DOI: | 10.1109/tie.2020.3008378 |
| Appears in Collections: | Staff Publications Elements |
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| File | Description | Size | Format | Access Settings | Version | |
|---|---|---|---|---|---|---|
| Towards Autonomy of Micro Aerial Vehicles in Unknown and GPS-denied Environments.pdf | 21.92 MB | Adobe PDF | OPEN | Post-print | View/Download |
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