Pregled bibliografske jedinice broj: 1143088
A Comparison of LiDAR-based SLAM Systems for Control of Unmanned Aerial Vehicles
A Comparison of LiDAR-based SLAM Systems for Control of Unmanned Aerial Vehicles // 2021 International Conference on Unmanned Aircraft Systems (ICUAS)
Atena, Grčka: Institute of Electrical and Electronics Engineers (IEEE), 2021. str. 1148-1154 doi:10.1109/icuas51884.2021.9476802 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
CROSBI ID: 1143088 Za ispravke kontaktirajte CROSBI podršku putem web obrasca
Naslov
A Comparison of LiDAR-based SLAM Systems for Control of Unmanned Aerial Vehicles
Autori
Milijas, Robert ; Markovic, Lovro ; Ivanovic, Antun ; Petric, Frano ; Bogdan, Stjepan
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
2021 International Conference on Unmanned Aircraft Systems (ICUAS)
/ - : Institute of Electrical and Electronics Engineers (IEEE), 2021, 1148-1154
ISBN
978-1-6654-1535-4
Skup
2021 International Conference on Unmanned Aircraft Systems (ICUAS 2021)
Mjesto i datum
Atena, Grčka, 15.06.2021. - 18.06.2021
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
Simultaneous localization and mapping ; Laser radar ; Pose estimation ; Sensor fusion ; Control systems ; Unmanned aerial vehicles
Sažetak
This paper investigates the use of LiDAR SLAM as a pose feedback for autonomous flight. Cartographer, LOAM and HDL graph SLAM are first introduced on a conceptual level and later tested for this role. They are first compared offline on a series of datasets to see if they are capable of producing high-quality pose estimates in agile and long-range flight scenarios. The second stage of testing consists of integrating the SLAM algorithms into a cascade PID UAV control system and comparing the control system performance on step excitation signals and helical trajectories. The comparison is based on step response characteristics and several time integral performance criteria as well as the RMS error between planned and executed trajectory.
Izvorni jezik
Engleski
Znanstvena područja
Elektrotehnika, Temeljne tehničke znanosti
POVEZANOST RADA
Projekti:
EK-H2020-820434 - BIM platforma u oblaku za energetski učinkovito i cjenovno efikasno renoviranje zgrada (ENCORE) (Bogdan, Stjepan, EK ) ( CroRIS)
EK-H2020-810321 - Twinning koordinacijska akcija za širenje izvrsnosti i sudjelovanja u zračnoj robotici – AeRoTwin (AeRoTwin) (Bogdan, Stjepan, EK ) ( CroRIS)
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
Profili:
Frano Petric
(autor)
Robert Milijaš
(autor)
Lovro Marković
(autor)
Stjepan Bogdan
(autor)
Antun Ivanović
(autor)