Implementation ofVision PSOFastSLAM Algorithm for Unmanned Aerial Vehicles in Mine Environment

LIU Shu-chi; YANG Wei

doi:10.15938/j.jhust.2018.04.014

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Implementation ofVision PSOFastSLAM Algorithm for Unmanned Aerial Vehicles in Mine Environment

更新时间：2026-08-31

- Implementation ofVision PSOFastSLAM Algorithm for Unmanned Aerial Vehicles in Mine Environment
- Vol. 23, Issue 4, Pages: 75-81(2018)
- 作者机构：
  
  北京交通大学电子信息工程学院,北京,100044
- 作者简介：
- 基金信息：
- DOI：10.15938/j.jhust.2018.04.014
  CLC： TD679
- Published：2018
- 稿件说明：
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LIU Shu-chi, YANG Wei. Implementation ofVision PSOFastSLAM Algorithm for Unmanned Aerial Vehicles in Mine Environment[J]. 2018, 23(4): 75-81.
DOI：

LIU Shu-chi, YANG Wei. Implementation ofVision PSOFastSLAM Algorithm for Unmanned Aerial Vehicles in Mine Environment[J]. 2018, 23(4): 75-81. DOI： 10.15938/j.jhust.2018.04.014.

摘要

为了实现无人机在无GPS的矿井环境下进行自主飞行，达到无人机的精准定位，提出了基于Rao-Blackwellized粒子滤波器的快速同步定位与地图创建（fast simultaneous location and mapping

FastSLAM）算法。首先设计了一种适用于矿井环境下的人工路标，建立起了无人机的SLAM算法数学模型，接着提出一种改进算法—PSOFastSLAM算法提高准确性，对无人机的位姿和路标位置进行估计，实现无人机的精准定位和地图绘制。最后对进行仿真实验，仿真结果证明PSOFastSLAM算法有效改善了FastSLAM算法粒子退化的问题，提高了井下无人机定位精度。

Abstract

In order to realize the autonomous flight of Unmanned Aerial Vehicle (UAV) in the mine environment without GPS and also precise positioning it

an algorithm called Fast Simultaneous Location and Mapping (FastSLAM) which is based on RaoBlackwellized particle filter is proposed.Firstly

an artificial road sign suitable for underground mine was designed and the mathematical model of Simultaneous Location and Mapping (SLAM) algorithm for UAV was established.Then an improved algorithm called PSOFastSLAM was proposed to improve the accuracy

to estimate the pose of UAV and the position of guideposts and to achieve the accurate positioning and map building for UAV.Finally

the simulation experiment is simulated

simulation results show that PSOFastSLAM algorithm can improve the particle degeneration problem in FastSLAM algorithm effectively and improve the positioning accuracy of UAV.

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