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Title: Preliminary study on drone navigation in urban environments using visual odometry and partially observable Monte Carlo planning
Authors: Yu, Qing
Zhang, Mingcheng
Low, Kin Huat
Keywords: Engineering::Aeronautical engineering::Air navigation
Issue Date: 2022
Source: Yu, Q., Zhang, M. & Low, K. H. (2022). Preliminary study on drone navigation in urban environments using visual odometry and partially observable Monte Carlo planning. AIAA AVIATION 2022 Forum, 2022-3765-.
metadata.dc.contributor.conference: AIAA AVIATION 2022 Forum
Abstract: Due to the recent technological development in drone technology, a drone is used in many applications like delivery, search and rescue, and safety inspection especially in low altitude airspace. However, the mass deployment of drones for commercial purposes is yet to be matured. Therefore, normally drone is used in time-critical applications like the delivery of essential medical supplies, these applications often require high reliability. Nowadays, drone normally relies on Global Positioning System (GPS) alone for outdoor navigation, but there is also the possibility that the GPS signal is lost due to GPS jamming in the area. This paper provides a solution for drone navigation in an unknown outdoor environment with no GPS signal. The drone’s surrounding environment is perceived via a camera and is constructed into a 3D occupancy grid map, followed by localization of its position. The navigation is formulated as a sequential decision-making problem and modeled using a partially observable Markov decision process (POMDP). The simulation shows the drone can navigate towards the goal by taking a local optimum decision iteratively based on its perceived surrounding environment at each step.
ISBN: 978-1-62410-635-4
DOI: 10.2514/6.2022-3765
Schools: School of Mechanical and Aerospace Engineering 
Research Centres: Air Traffic Management Research Institute 
Rights: © 2022 Nanyang Technological University. All rights reserved. This paper was published by the American Institute of Aeronautics and Astronautics, Inc. in Proceedings of AIAA AVIATION 2022 Forum and is made available with permission of Nanyang Technological University.
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:ATMRI Conference Papers
MAE Conference Papers

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