UAV Active SLAM Trajectory Programming Based on Optimal Control

Zeng Xiang Yang; Sai  Jin

doi:10.4028/www.scientific.net/AMR.765-767.1932

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 765-767UAV Active SLAM Trajectory Programming Based on...

UAV Active SLAM Trajectory Programming Based on Optimal Control

Abstract:

To decrease the uncertainty of simultaneous localization and mapping of UAV, and at the same time, to increase the speed of searching the unknown environment at which UAV locates, an active SLAM trajectory programming algorithm is proposed based on optimal control. Therefore, UAV SLAM is tackled as a combined optimization problem, considering the precision of UAV location and mapping integrity. Based on the simplified UAV plane motion model, this algorithm is simulated and tested by comparing with the random SLAM algorithm. Simulation results show that this algorithm is effective.

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Periodical:

Advanced Materials Research (Volumes 765-767)

Pages:

1932-1935

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.765-767.1932

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Online since:

September 2013

Authors:

Zeng Xiang Yang, Sai Jin

Keywords:

Active SLAM, Optimal Control, Simultuneous Localization, Simultuneous Mapping, UAV

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