We found a match
Your institution may have access to this item. Find your institution then sign in to continue.
- Title
基于分层SLAM的空地多智能体协同导航.
- Authors
王晓龙; 刘海颖; 王景琪
- Abstract
Aiming at the problem that global navigation satellite system(GNSS) is easily occluded or interfered in the navigation process and error accumulation of inertial navigation, a vision based hierarchical simultaneous localization and mapping (SLAM) air-ground multi-agent coordination algorithm is proposed. By establishing the system model, the hierarchical SLAM algorithm based on the extended Kalman filter is used to fuse three different feature points including the Euclidean point, the inverse depth point and the anchor one, so the navigation system is assisted and enhanced. The simulation experiment is designed and carried out for the air-ground collaborative scene. The results show that the air-ground coordination method can reduce the position error down by 40%; after using the anchored homogenous point, the false recognition rate is reduced from 49% to 4%. The experimental results show that the algorithm has good positioning accuracy, practicability and effectiveness.
- Subjects
GLOBAL Positioning System; KALMAN filtering; SLAM (Robotics)
- Publication
Systems Engineering & Electronics, 2020, Vol 42, Issue 1, p166
- ISSN
1001-506X
- Publication type
Article
- DOI
10.3969/j.issn.1001-506X.2020.01.22