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Terrain Aided Recovery of a Multirotor Using Laser Range-Finders in a Satellite-Navigation Deprived Environment

Terrain Aided Recovery of a Multirotor Using Laser Range-Finders in a Satellite-Navigation Deprived Environment

Wednesday 16/11/2022
  • Stanislav Shougaev
  • Work towards PhD degree under the supervision of Assoc. Prof. Moshe Idan (Technion)
  • Classroom 165, ground floor, Library, Aerospace Engineering
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  • Department of Aerospace Engineering
  • Technion – Israel Institute of Technology
  • The talk will be given in English

Unmanned aerial vehicles rely predominantly on external signal reception for navigation. This includes both satellite navigation (GNSS) and guidance through remote control channels. In case of a signal loss, a recovery logic is needed to navigate the vehicle back to its base until normal operation is regained. Such systems commonly require pre-installed local maps of the flight area or rich-information sensors like LIDARs and cameras.

Our work examines a recovery logic for a multirotor based on several Body-Fixed Laser Range-Finders (BF-LRFs) and an inertial measurement unit (INS) without a pre-installed map, hence providing a simple, low-cost recovery solution. BF-LRFs were shown to perform well for Terrain Following for single UAVs and multirotor slung load applications. To facilitate the recovery, a terrain map along the flight trajectory can be constructed during the normal GNSS operation when an accurate navigation solution is available using the BF-LRFs as terrain sampling sensors. In case of GNSS signal loss, the accumulated map, together with an INS and the BF-LRFs measurements, are used for a terrain-aided navigation type solution to navigate the vehicle back to its base. Along with the recovery system, a BF-LRF based obstacle avoidance solution is examined both separately from the recovery system and combined. The recovery logic was tested in a realistic six-degrees-of-freedom simulation using a real terrain map. The simulations evaluated the recovery and the obstacle avoidance systems in several different LRF configurations and flight paths, showing promising results.


Light refreshments will be served before the lecture
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