无GPS环境下，无人机群通过相对定位实现自主导航与返航
Relative Positioning for Aerial Robot Path Planning in GPS Denied Environment
- 基于相对位置感知，无需GPS即可定位无人机群
- 实现在无信号环境下的团队搜索与返航能力
- 适用于偏远火灾区域的自主无人机任务
智能空中机器人（又称无人机，UAV）在澳大利亚常用于林火监测与预测。一群自主无人机可实时利用机载传感器观测火情参数，显著降低火灾带来的生命威胁。然而，在偏远地区及恶劣天气下，无人机面临严重定位与导航挑战，尤其在GPS信号不可靠时。本文聚焦于自主无人机导航的关键问题——初始定位（即本地化）。所提方案使无人机群能在无GPS条件下建立相对于基地的相对位置，从而启动团队侦察任务并自主返回基地。
原文摘要 · Abstract (English)
One of the most useful applications of intelligent aerial robots sometimes called Unmanned Aerial Vehicles (UAV) in Australia is known to be in bushfire monitoring and prediction operations. A swarm of autonomous drones/UAVs programmed to work in real-time observing the fire parameters using their onboard sensors would be valuable in reducing the life-threatening impact of that fire. However autonomous UAVs face serious challenges in their positioning and navigation in critical bushfire conditions such as remoteness and severe weather conditions where GPS signals could also be unreliable. This paper tackles one of the most important factors in autonomous UAV navigation, namely Initial Positioning sometimes called Localisation. The solution provided by this paper will enable a team of autonomous UAVs to establish a relative position to their base of operation to be able to commence a team search and reconnaissance in a bushfire-affected area and find their way back to their base without the help of GPS signals.
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