Implementation and performance evaluation of optical flow navigation system under specific conditions for a flying robot

Aminzadeh, Ali; Atashgah, M. A. Amiri

doi:10.1109/maes.2018.170075

Cited by 7 publications

(3 citation statements)

References 23 publications

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“…The necessity of operations in unknown environments or conditions where no signals of GNSS/GPS are available, motivates researchers to find heuristic/novel positioning and path planning methods; even without the necessity for external position fixing devices (Aminzadeh & Amiri Atashgah, 2018). However, any failure in navigation subsystems also may cause such circumstances.…”

Section: Introductionmentioning

confidence: 99%

A Simultaneous Path Planning and Positioning Based on Artificial Distribution of Landmarks in a GNSS Denied Environment

2023

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In recent years, exploration operations by autonomous robots are expanding into unknown environments on Earth, under the sea, or even on other planets. This paper proposes the idea of Concurrent Path Planning and Positioning (CPPAP) using artificially distributed landmarks, while no GNSS signal is available. The method encompasses an observability-based direction search algorithm for path planning in parallel with Simultaneous Localization and Mapping (SLAM) for localization. Most of the path planning methods utilize offline algorithms; however, the proposed method determines the robot’s direction of motion in real-time, concurrently with the positioning tasks by the inclusion of the system observability, related to the features’ distribution. Same as in all feature-based SLAMs, features play an important role in determination of the most observable direction, and hence the direction of the robot’s motion. Moreover, the effectiveness of the distribution of the features and their pattern in the proposed method is investigated. To evaluate the efficiency and accuracy of the CPPAP, outcomes are compared with an existing random SLAM.

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Section: Introductionmentioning

confidence: 99%

A Simultaneous Path Planning and Positioning Based on Artificial Distribution of Landmarks in a GNSS Denied Environment

2023

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“…Navigable tunnels are usually set in curved rivers with complex flow patterns and uneven velocity distribution. Because the navigable flow in restricted waters has the characteristics of high wave and rapid velocity, the navigation process of ships is vulnerable to have many adverse effects on the buildings and facilities on both sides of the river, the sediment of rivers and its own navigation stability [17][18][19][20][21]. Therefore, it is necessary to explore the characteristics of navigable flow conditions under the condition of navigable tunnel and study effective measures to improve the navigable flow conditions at the entrance of approach channel of navigable tunnel in steep bay section.…”

Section: Introductionmentioning

confidence: 99%

Characteristic Analysis of Navigable Flow Conditions and Numerical Simulation of Water Conservancy in Steep Bay Section of the Navigable Tunnel

Cheng¹,

Zhang²,

Wu³

2022

IJHT

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Compared with traditional low-standard ship locks, large-section navigable tunnels have the advantages of increasing water resources dispatching, increasing ship crossing channels and shipping. It is necessary to explore the characteristics of navigable flow conditions under the condition of navigable tunnel and study effective measures to improve the navigable flow conditions at the entrance of approach channel of navigable tunnel in steep bay section. However, the existing research results neglect the navigation channel layout in the steep bay section, and it’s lack of theoretical research on improving the flow conditions at the entrance of approach channel of navigable tunnel in the steep bay section. For this, this article studies the characteristics of navigation flow conditions and numerical simulation of water conservancy in steep bay section of the tunnel. Firstly, the physical model of tunnel navigation in steep bay section is designed to ensure the geometric similarity, flow movement similarity and dynamic similarity between the model and the actual situation in steep bay section. Then, the numerical simulation of navigation water conservancy in steep bay section of tunnel is carried out, and the continuity equation and momentum equation in the new coordinate system are given. This article explores the navigation scheme of large cross-section navigable tunnel in order to obtain effective measures to improve the navigation conditions of this section. Finally, the corresponding experimental results and analysis are given.

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“…This method has two disadvantages: (i) if the number of sight distance measurements in the two‐dimensional plane is <3 or if the number of the sight distance measurements in the three‐dimensional space is <4, then discard any NLOS measurements will not be able to locate the target node; (ii) if only the LOS measurement value is used, the NLOS measurement value will be lost, and the multi‐target node cooperative localisation algorithm may not be able to achieve localisation. In addition, some scholars have studied the energy‐saving technology of multi‐sensors and some calibration methods in the positioning process, which can be found in [35–38].…”

Section: Introductionmentioning

confidence: 99%

TOA NLOS mitigation cooperative localisation algorithm based on topological unit

Zhang

Qian

Liu

2020

IET signal process.

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The accuracy of cooperative localisation can be severely degraded in non‐line‐of‐sight (NLOS) environments. To mitigate the NLOS errors, the cooperative localisation problem based on time of arrival (TOA) under the mixed line‐of‐sight (LOS)/NLOS conditions is addressed. By studying the topological relationship between nodes, a TOA NLOS mitigation cooperative localisation algorithm based on the topological unit is proposed. This algorithm is implemented under the classical multidimensional scaling framework. The adjacent topological unit of NLOS measurements are successfully identified by using the LOS matrix, and the NLOS measurements are re‐estimated using topological units. The least‐square method is used to transform the relative coordinates into absolute coordinates depending on the location of the anchor nodes. Compared to the existing methods, by employing the topological unit, this algorithm only requires the number of LOS anchor nodes to be 2 in the two‐dimensional plane, and the better localisation performance can be achieved. Simulation results show that the proposed method works well for both the sparse and dense NLOS environments.

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Implementation and performance evaluation of optical flow navigation system under specific conditions for a flying robot

Cited by 7 publications

References 23 publications

A Simultaneous Path Planning and Positioning Based on Artificial Distribution of Landmarks in a GNSS Denied Environment

A Simultaneous Path Planning and Positioning Based on Artificial Distribution of Landmarks in a GNSS Denied Environment

Characteristic Analysis of Navigable Flow Conditions and Numerical Simulation of Water Conservancy in Steep Bay Section of the Navigable Tunnel

TOA NLOS mitigation cooperative localisation algorithm based on topological unit

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