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Simultaneous localization and mapping and tag-based navigation for unmanned aerial vehicles

This paper presents navigation techniques for an Unmanned Aerial Vehicle (UAV) in a virtual simulation of an indoor environment using Simultaneous Localization and Mapping (SLAM) and April Tag markers to reach a target destination. In many cases, UAVs can access locations that are inaccessible to pe...

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Main Authors: Ramli, Rizauddin, Amiri, Mohammad Soleimani, Faizal, Aiman Hakimi
Format: Article
Language:English
Published: Penerbit UTHM 2023
Online Access:http://eprints.utem.edu.my/id/eprint/27257/2/0273411012024174922677.PDF
http://eprints.utem.edu.my/id/eprint/27257/
https://penerbit.uthm.edu.my/ojs/index.php/ijie/article/view/15074/6025
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spelling my.utem.eprints.272572024-07-01T14:29:04Z http://eprints.utem.edu.my/id/eprint/27257/ Simultaneous localization and mapping and tag-based navigation for unmanned aerial vehicles Ramli, Rizauddin Amiri, Mohammad Soleimani Faizal, Aiman Hakimi This paper presents navigation techniques for an Unmanned Aerial Vehicle (UAV) in a virtual simulation of an indoor environment using Simultaneous Localization and Mapping (SLAM) and April Tag markers to reach a target destination. In many cases, UAVs can access locations that are inaccessible to people or regular vehicles in indoor environments, making them valuable for surveillance purposes. This study employs the Robot Operating System (ROS) to simulate SLAM techniques using LIDAR and GMapping packages for UAV navigation in two different environments. In the Tag-based simulation, the input topic for April Tag in ROS is camera images, and the calibration of position with a tag is done through assigning a message to each ID and its marker image. On the other hand, navigation in SLAM was achieved using a global and local planner algorithm. For localization, an Adaptive Monte-Carlo Localization (AMCL) technique has been used to identify factors contributing to inconsistent mapping results, such as heavy computational load, grid mapping accuracy, and inadequate UAV localization. Furthermore, this study analyzed the April Tag-based navigation algorithm, which showed satisfactory outcomes due to its lighter computing requirements. It can be ascertained that by using ROS packages, the simulation of SLAM and Tag-based UAV navigation inside a building can be achieved. Penerbit UTHM 2023 Article PeerReviewed text en http://eprints.utem.edu.my/id/eprint/27257/2/0273411012024174922677.PDF Ramli, Rizauddin and Amiri, Mohammad Soleimani and Faizal, Aiman Hakimi (2023) Simultaneous localization and mapping and tag-based navigation for unmanned aerial vehicles. International Journal of Integrated Engineering, 15 (5). pp. 225-232. ISSN 2229-838X https://penerbit.uthm.edu.my/ojs/index.php/ijie/article/view/15074/6025 10.30880/ijie.2023.15.05.024
institution Universiti Teknikal Malaysia Melaka
building UTEM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknikal Malaysia Melaka
content_source UTEM Institutional Repository
url_provider http://eprints.utem.edu.my/
language English
description This paper presents navigation techniques for an Unmanned Aerial Vehicle (UAV) in a virtual simulation of an indoor environment using Simultaneous Localization and Mapping (SLAM) and April Tag markers to reach a target destination. In many cases, UAVs can access locations that are inaccessible to people or regular vehicles in indoor environments, making them valuable for surveillance purposes. This study employs the Robot Operating System (ROS) to simulate SLAM techniques using LIDAR and GMapping packages for UAV navigation in two different environments. In the Tag-based simulation, the input topic for April Tag in ROS is camera images, and the calibration of position with a tag is done through assigning a message to each ID and its marker image. On the other hand, navigation in SLAM was achieved using a global and local planner algorithm. For localization, an Adaptive Monte-Carlo Localization (AMCL) technique has been used to identify factors contributing to inconsistent mapping results, such as heavy computational load, grid mapping accuracy, and inadequate UAV localization. Furthermore, this study analyzed the April Tag-based navigation algorithm, which showed satisfactory outcomes due to its lighter computing requirements. It can be ascertained that by using ROS packages, the simulation of SLAM and Tag-based UAV navigation inside a building can be achieved.
format Article
author Ramli, Rizauddin
Amiri, Mohammad Soleimani
Faizal, Aiman Hakimi
spellingShingle Ramli, Rizauddin
Amiri, Mohammad Soleimani
Faizal, Aiman Hakimi
Simultaneous localization and mapping and tag-based navigation for unmanned aerial vehicles
author_facet Ramli, Rizauddin
Amiri, Mohammad Soleimani
Faizal, Aiman Hakimi
author_sort Ramli, Rizauddin
title Simultaneous localization and mapping and tag-based navigation for unmanned aerial vehicles
title_short Simultaneous localization and mapping and tag-based navigation for unmanned aerial vehicles
title_full Simultaneous localization and mapping and tag-based navigation for unmanned aerial vehicles
title_fullStr Simultaneous localization and mapping and tag-based navigation for unmanned aerial vehicles
title_full_unstemmed Simultaneous localization and mapping and tag-based navigation for unmanned aerial vehicles
title_sort simultaneous localization and mapping and tag-based navigation for unmanned aerial vehicles
publisher Penerbit UTHM
publishDate 2023
url http://eprints.utem.edu.my/id/eprint/27257/2/0273411012024174922677.PDF
http://eprints.utem.edu.my/id/eprint/27257/
https://penerbit.uthm.edu.my/ojs/index.php/ijie/article/view/15074/6025
_version_ 1804070306626666496
score 13.211869

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