Towards the Development of Simultaneous Localisation and Map Building for an Unmanned Air Vehicle

摘要

This paper discusses the initial development of the Simultaneous Localisation and Map Building (SLAM) algorithm for an Unmanned Air Vehicle (UAV). SLAM deals with the problem of generating a map of the environment surrounding the vehicle, while at the same time localising the vehicle's position within that map given that both the vehicle's initial position and the landmark positions are unknown. There have been numerous works on the SLAM problem for land, underwater and indoor vehicles; this is the first for flight vehicles. This paper presents the algorithm along with simulated results of a UAV flying over a terrain filled with landmarks and simulated observation data. The results show the success of the algorithm in generating a map and localising the vehicle within that map.