A State of the Art in Simultaneous Localization and Mapping (SLAM) for Unmanned Ariel Vehicle (UAV): A Review

Abstract

For the past decade, the main problem that has attracted researchers’ attention in aerial robotics is the position estimation or Simultaneous Localization and Mapping (SLAM) of Unmanned Aerial Vehicles (UAVs) where the GPS signal is poor or denied. This article reviews the strengths and weaknesses of existing methods in the field of aerial robotics. There are many different techniques and algorithms that are used to overcome the localization and mapping problem of these UAVs. These techniques and algorithms use different sensors, such as Red Green Blue-Depth (RGB_D), Light Detecting and Ranging (LIDAR), and Ultra-wideband (UWB). The most common technique is used, i.e., probability-based SLAM, which uses two algorithms: Linear Kalman Filter (LKF) and Extended Kalman Filter (EKF). LKF consists of five phases and this algorithm is just used for linear system problems. However, the EKF algorithm is used for non-linear systems. Aerial robots are used to perform many tasks, such as rescue, transportation, search, control, monitoring, and different military operations because of their vast top view. These properties are increasing their demand as compared to human service. In this paper, different techniques for the localization of aerial vehicles are discussed in terms of advantages and disadvantages, practicality and efficiency. This paper enables future researchers to find the suitable SLAM solution based on their problems; either the researcher is dealing with a linear problem or a non-linear problem.

Multiple Sensor based Human Detection Robots: A Review

“…It was declared by Hassanein et al [44] that experimental results demonstrate the effectiveness of the adaptive controller in controlling the AUV's dynamics in various conditions. Abdul Rauf et al's study [45] mentions that the position estimation in UAVs without GPS using simultaneous localization and mapping (SLAM) techniques has been a prominent research area in aerial robotics. Existing methods employing sensors like red green bluedepth (RGB-D), light detection and ranging (LiDAR), and ultra-wideband (UWB) are reviewed, with probability-based SLAM (linear Kalman filter [LKF] and extended Kalman filter [EKF]) being commonly utilized.…”