The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2019
Session ID : 1A1-F07
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Route Planning for Accurate Localization Under Uncertainty
*Hideki DEGUCHIShun TAGUCHIKiyosumi KIDONO
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Abstract

In this paper, we propose a route planning method to keep the accurate localization for unmanned aerial vehicles (UAV) which use a camera and an inertial measurement unit (IMU). The dead reckoning with the IMU and visual odometry (VO) using the camera can be used for the self-localization in an unknown and GPS-denied environment. Both techniques cause estimation errors with motion, but the VO has less error accumulation than the dead reckoning. Therefore, we developed a method of modeling the predicted routes to calculate the error variance as an objective function. In addition, this approach enables determination of the posture of a UAV equipped with a camera with a high number of degrees of freedom. The simulation results show the accuracy of the proposed method, and confirm that it has a certain error improvement effect in any environment.

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© 2019 The Japan Society of Mechanical Engineers
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