Research on VSLAM of UAV in Coal Mine Based on ROS

摘要

Given the severe problem of autonomous navigation when UAV can not get external assistance in the complex environment of the coal mine, this paper proposes an autonomous UAV scheme which runs VSLAM algorithm under the framework of ROS, and can independently complete the positioning and navigation tasks. By studying the principle of VSLAM algorithm and the frontier algorithm orb-slam, this paper designs and builds an autonomous navigation UAV platform. According to the scheme and characteristics of the platform, the visual positioning part is improved.