Application of iterative closest point algorithm in automatic flight of speedy UAV

Author

Gu Tianyuan ; Zhang Ning

Author_Institution

Sci. & Technol. on Aircraft Control Lab., AVIC Xi´an Flight Autom. Control Res. Inst., Xi´an, China

fYear

2014

fDate

8-10 Aug. 2014

Firstpage

1456

Lastpage

1459

Abstract

In order to realize the autonomous location and attitude estimation for speedy UAV, this paper designs an improved Iterative Closest Points (ICP) algorithm for fixed-wing UAV with a laser range finder mounted onboard. This improved ICP adopts a K-d tree and AK-d tree mixed closest point searching strategy to enhance its rapidity, and an automatic trim approach to drop out outlier points to improve its reliability. In order to check the feasibility of the proposed algorithm, flight experiment is conducted. Experiment result demonstrates the good performance of the algorithm.

Keywords

attitude control; autonomous aerial vehicles; iterative methods; position control; trees (mathematics); AK-d tree; ICP algorithm; K-d tree; attitude estimation; automatic UAV flight; automatic trim approach; closest point searching strategy; fixed-wing UAV; iterative closest point algorithm; laser range finder; location estimation; speedy UAV; unmanned aerial vehicle; Algorithm design and analysis; Estimation; Iterative closest point algorithm; Laser radar; Reliability; Sensors; Standards;

fLanguage

English

Publisher

ieee

Conference_Titel

Guidance, Navigation and Control Conference (CGNCC), 2014 IEEE Chinese

Conference_Location

Yantai

Print_ISBN

978-1-4799-4700-3

Type

conf

DOI

10.1109/CGNCC.2014.7007407

Filename

7007407