基于分层SLAM的空地多智能体协同导航

doi:10.3969/j.issn.1001-506X.2020.01.22

Abstract

Abstract:

Aiming at the problem that global navigation satellite system(GNSS) is easily occluded or interfered in the navigation process and error accumulation of inertial navigation, a vision-based hierarchical simultaneous localization and mapping (SLAM) air-ground multi-agent coordination algorithm is proposed. By establishing the system model, the hierarchical SLAM algorithm based on the extended Kalman filter is used to fuse three different feature points including the Euclidean point, the inverse depth point and the anchor one, so the navigation system is assisted and enhanced. The simulation experiment is designed and carried out for the air-ground collaborative scene. The results show that the air-ground coordination method can reduce the position error down by 40%; after using the anchored homogenous point, the false recognition rate is reduced from 49% to 4%. The experimental results show that the algorithm has good positioning accuracy, practicability and effectiveness.

Key words: visual navigation, air-ground multi-agent (AGMA), coordination navigation, hierarchical simultaneous localization and mapping (SLAM), general loop closure, extended Kalman filter (EKF)

CLC Number:

Xiaolong WANG, Haiying LIU, Jingqi WANG. Collaborative navigation of air-ground multi-agent based on hierarchical SLAM[J]. Systems Engineering and Electronics, 2020, 42(1): 166-171.

Figures/Tables 6

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References 27

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组别	智能体属性	初始位置(x, y, z, θ, φ, Ψ)	初始速度(dx, dθ)	精度设置(x_e, y_e, z_e, θ_e, φ_e, Ψ_e)
1	地面	(0, -5, 0, 0, 0, 0)	(0.08, 0.9)	(0.005, 0.005, 0.005, 0.1, 0.1, 0.1)
2	地面	(0, -5, 0, 0, 0, 0)	(0.08, 0.9)	(0.005, 0.005, 0.005, 0.1, 0.1, 0.1)
2	空中	(0, -10, 7, 0, 0, 0)	(0.1, 0.9)	(0.01, 0.01, 0.01, 0.1, 0.1, 0.1)

组	类型	横轴方差/m	纵轴方差/m	偏航角方差/(°)	滚转角方差/(°)
1	无协同	0.76	0.63	2.50	0.75
2	有协同	0.32	0.13	1.08	0.61

点类型	单次计算近似耗时/s	ANEES数量级	删除特征点事件
EP	0.01	10³	< 35
IDP	0.04	10¹	< 10
AHP	0.07	10¹	< 3

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Collaborative navigation of air-ground multi-agent based on hierarchical SLAM

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