GNSS/LiDAR-based navigation of an aerial robot in sparse forests

Página do item simplificado
dc.creatorAntonio Chiella
dc.creatorHenrique Nunes Machado
dc.creatorBruno Otávio Soares Teixeira
dc.creatorGuilherme Augusto Silva Pereira
dc.date.accessioned2026-01-06T21:51:29Z
dc.date.issued2019
dc.identifier.doihttps://doi.org/10.3390/s19194061
dc.identifier.issn1424-8220
dc.identifier.urihttps://hdl.handle.net/1843/1310
dc.languageeng
dc.publisherUniversidade Federal de Minas Gerais
dc.relation.ispartofSensors
dc.rightsAcesso aberto
dc.rightsCC0 1.0 Universalen
dc.rights.urihttp://creativecommons.org/publicdomain/zero/1.0/
dc.subjectRobótica
dc.subjectVeículos autônomos
dc.subjectSistemas globais de navegação por satélite
dc.subject.otherforest flight
dc.subject.othersurveillance
dc.subject.otherrobust state estimation
dc.subject.othersensor fusion
dc.subject.othermotion planning
dc.titleGNSS/LiDAR-based navigation of an aerial robot in sparse forests
dc.typeArtigo de periódico
local.citation.epage22
local.citation.spage1
local.citation.volume19
local.description.resumoAutonomous navigation of unmanned vehicles in forests is a challenging task. In such environments, due to the canopies of the trees, information from Global Navigation Satellite Systems (GNSS) can be degraded or even unavailable. Also, because of the large number of obstacles, a previous detailed map of the environment is not practical. In this paper, we solve the complete navigation problem of an aerial robot in a sparse forest, where there is enough space for the flight and the GNSS signals can be sporadically detected. For localization, we propose a state estimator that merges information from GNSS, Attitude and Heading Reference Systems (AHRS), and odometry based on Light Detection and Ranging (LiDAR) sensors. In our LiDAR-based odometry solution, the trunks of the trees are used in a feature-based scan matching algorithm to estimate the relative movement of the vehicle. Our method employs a robust adaptive fusion algorithm based on the unscented Kalman filter. For motion control, we adopt a strategy that integrates a vector field, used to impose the main direction of the movement for the robot, with an optimal probabilistic planner, which is responsible for obstacle avoidance. Experiments with a quadrotor equipped with a planar LiDAR in an actual forest environment is used to illustrate the effectiveness of our approach.
local.publisher.countryBrasil
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELÉTRICA
local.publisher.departmentENG - DEPARTAMENTO DE ENGENHARIA ELETRÔNICA
local.publisher.initialsUFMG
local.subject.cnpqENGENHARIAS
local.url.externahttps://www.mdpi.com/1424-8220/19/19/4061

Arquivos

Pacote original

Agora exibindo 1 - 1 de 1
Imagem de Miniatura
Nome:
GNSS-LiDAR-based navigation of an aerial robot in sparse forests.pdf
Tamanho:
7.29 MB
Formato:
Adobe Portable Document Format
Baixar

Licença do pacote

Agora exibindo 1 - 1 de 1
Imagem de Miniatura
Nome:
license.txt
Tamanho:
2.07 KB
Formato:
Item-specific license agreed to upon submission
Descrição:
Baixar

Coleções

Artigo de Periódico

Logo UFMG