Title :
A quadrotor helicopter localization method using 2D laser scanner in structured environment
Author :
Xiang He ; Zhihao Cai ; Ruyi Yan
Author_Institution :
Nat. Key Lab. of Sci. & Technol., Beihang Univ., Beijing, China
Abstract :
A method of localization for quadrotor helicopter using 2D laser scanner in structured environment is discussed. In the case of no GPS signal, a research on obtaining location and orientation only relying on the perception information provided by the airborne laser scanner is carried out, in order to correct the data of the inertial measurement unit and to improve the aircraft self-positioning accuracy. According to the characteristics of data obtained by the two-dimensional laser scanner, line feature extraction, segment matching, and iterative closest point ICP algorithm is used to obtain the horizontal position and orientation estimation. In the experiment, HOKUYO UTM30LX laser scanner is used to simulate the methods described above, and verify the correctness.
Keywords :
aircraft control; attitude control; feature extraction; helicopters; image matching; image segmentation; iterative methods; optical scanners; position control; robot vision; 2D laser scanner; HOKUYO UTM30LX laser scanner; ICP algorithm; airborne laser scanner; aircraft self-positioning accuracy; horizontal position; inertial measurement unit; iterative closest point algorithm; line feature extraction; orientation estimation; perception information; quadrotor helicopter localization method; segment matching; structured environment; two-dimensional laser scanner; Feature extraction; Graphics; Helicopters; Image segmentation; Iterative closest point algorithm; Laser theory; Measurement by laser beam; ICP; feature; indoor; laser; quadrotor;
Conference_Titel :
Chinese Automation Congress (CAC), 2013
Conference_Location :
Changsha
Print_ISBN :
978-1-4799-0332-0
DOI :
10.1109/CAC.2013.6775819
