非GPS環境におけるドローンの自己位置推定機能に関する標準的試験法策定のためのシミュレータ開発と基礎検討

抄録

Drones are expected to play an active and important role in the logistics and infrastructure inspection fields. In non-GPS environments, drone have to obtain its position using self-position estimation technology. However, it is difficult to compare the estimation performance because test methods are not standardized. In response to this problem, we have started to propose standard test methods for self-localization of drone. In this study, a simulator for considering the test environment is developed by using Unity and the simulator can cooperates with the ROS (Robot Operating System). Three types of SLAM (Simultaneous Localization And Mapping) are compared in some environments prepared in the developed simulator.