NAVIGATION SYSTEM BASED ON MARKERS FOR UAV GROUP

Журнал Робототехника и техническая кибернетика 4(5)2014

NAVIGATION SYSTEM BASED ON MARKERS FOR UAV GROUP

K.S. Yakovlev
PhD, Institute for Systems Analysis of Russian Academy of Sciences, Research Scientist, Moscow, pr. 60-letiya Oktyabrya, 9, tel.: +7(499)135-04-63, This email address is being protected from spambots. You need JavaScript enabled to view it.  

V.V. Khitkov
Rybinsk State Aviation Technical University named after P.A. Soloviev, Teaching Assistant, Pushkin st., 53. Yaroslavl region. Rybinsk, Russia, tel.: +7(4855)280-470, This email address is being protected from spambots. You need JavaScript enabled to view it.  

M.I. Loginov
Rybinsk State Aviation Technical University named after P.A. Soloviev, Postgraduate Student, Pushkin st., 53. Yaroslavl region. Rybinsk, Russia, tel.: +7(4855)280-470, This email address is being protected from spambots. You need JavaScript enabled to view it.  

A.V.Petrov
Rybinsk State Aviation Technical University named after P.A. Soloviev, Principal Software Engineer, Pushkin st., 53. Yaroslavl region. Rybinsk, Russia, tel.: +7(4855)280-470, This email address is being protected from spambots. You need JavaScript enabled to view it.  

 


Abstract
Distributed control system for UAV group in environment without access to global positioning systems, with marker localization and marker mapping indoors, is described. System is based on 4D/RCS model and ROS plat-form.
The task of mapping is performed by implementation of EKF-SLAM algorithm.

Key words
Autonomous navigation, unmanned aerial vehicle, distributed control system, QR-code, local map, marker, localization.

Year 2014 Issue number 4Consecutive issue number 5 Pages 44-48
UDC identifier: 629.05:623.746.-519:004.4

 

 

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