论文标题
视觉大满贯和导航的端到端无人机模拟
End-to-End UAV Simulation for Visual SLAM and Navigation
论文作者
论文摘要
在未知环境中，视觉上同时定位和映射（V-SLAM）以及多轨道无人机的导航（UAV）在研究和教育方面都在受欢迎。但是，由于复杂的硬件设置，安全性预防措施和电池限制，广泛的物理测试可能昂贵且耗时。作为替代解决方案，模拟工具在现场试验之前降低了障碍物以进行算法测试和验证。在这封信中，我们在Deep中自定义Ros-Gazebo-PX4模拟器，并为UAV V-SLAM和导航研究提供了端到端的模拟解决方案。一组本地化，映射和路径计划套件也集成到仿真平台中。在我们的模拟中，各个方面，包括复杂的环境和车载传感器，都可以同时与我们的导航框架进行交互，以实现特定的监视任务。在此端到端模拟中，我们实现了点击和飞行级别自主无人机导航。源代码向研究界开放。
Visual Simultaneous Localization and Mapping (v-SLAM) and navigation of multirotor Unmanned Aerial Vehicles (UAV) in an unknown environment have grown in popularity for both research and education. However, due to the complex hardware setup, safety precautions, and battery constraints, extensive physical testing can be expensive and time-consuming. As an alternative solution, simulation tools lower the barrier to carry out the algorithm testing and validation before field trials. In this letter, we customize the ROS-Gazebo-PX4 simulator in deep and provide an end-to-end simulation solution for the UAV v-SLAM and navigation study. A set of localization, mapping, and path planning kits were also integrated into the simulation platform. In our simulation, various aspects, including complex environments and onboard sensors, can simultaneously interact with our navigation framework to achieve specific surveillance missions. In this end-to-end simulation, we achieved click and fly level autonomy UAV navigation. The source code is open to the research community.
