Title :
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
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;
Conference_Titel :
Guidance, Navigation and Control Conference (CGNCC), 2014 IEEE Chinese
Conference_Location :
Yantai
Print_ISBN :
978-1-4799-4700-3
DOI :
10.1109/CGNCC.2014.7007407
