On-board sensors-based indoor navigation techniques of micro aerial vehicle

摘要

Micro Aerial Vehicle (MAV) possesses the characteristics of small size, strong maneuvering-ability, flexible operation and low cost, which can perform dangerous tasks in complicated environments and has been widely applied in reconnaissance, disaster relief such civilian and military fields. However, the key factor of the MAV is the autonomous navigation in indoor environments, i.e., without GPS, and the involved important technologies are still challenging as an open issue. This paper analyzes the current methods which can achieve the autonomous navigation in indoor environments and identify the advantages and disadvantages of these methods, together with their respective applicable scenarios. Combined with the latest research hot spot and bottleneck problems, the development trend of autonomous navigation is summarized, and strategies and suggestions are also provided.