NDLI: Indoor path planning for hex-rotor aircraft with landmark-based visual navigation

Content Provider	IEEE Xplore Digital Library
Author	Tianwei Shi Hong Wang Wenhua Cui Ling Ren
Copyright Year	2015
Description	Author affiliation: Dept. of Electron. & Inf. Eng., Univ. of Sci. & Technol. Liaoning, Anshan, China (Wenhua Cui) \|\| R&D Center, Julong Co., Ltd., Anshan, China (Ling Ren) \|\| Dept. of Mech. Eng. & Autom., Northeastern Univ., Shenyang, China (Tianwei Shi; Hong Wang)
Abstract	In this paper, a indoor path planning algorithm is presented to obtain the shortest trajectory for the hex-rotor aircraft in the complex terrains with no-fly zones. This algorithm finds all flyable and feasible trajectories from the start point to the landmarks and from the landmarks to the destination point firstly. Then, it constructs the path network between all landmarks and connects the start point, all landmarks and the destination point. Finally, it finds the final navigable trajectory. To overcome the drawbacks of Global Positioning System (GPS) and improve the positioning accuracy, the visual navigation based on landmarks is employed to assist the Inertial Navigation System (INS). It is accomplished by comparing the corresponding position of landmarks in the real-time image and onboard stored integral referenced image. The landmarks must be visible and distinguishable. The results of simulations and actual indoor flights show that the algorithm proposed in this paper was feasible for path planning and it can be used in indoor and outdoor environments.
Starting Page	340
Ending Page	344
File Size	1193098
Page Count	5
File Format	PDF
e-ISBN	9781467376822
DOI	10.1109/FSKD.2015.7381965
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-08-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visualization visual navigation no-fly zone hex-rotor aircraft Aircraft navigation Trajectory path planning shortest trajectory Aircraft Global Positioning System
Content Type	Text
Resource Type	Article

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