Navigating under the forest canopy and in the urban jungle

在森林树冠下和城市丛林中航行

• 批准号: DP180102250
• 负责人: Prof Luis Gonzalez
• 金额: $ 25.34万
• 依托单位: Queensland University of Technology
• 依托单位国家: 澳大利亚
• 项目类别: Discovery Projects
• 财政年份: 2018
• 资助国家: 澳大利亚
• 起止时间: 2018-05-24 至 2023-06-30
• 项目状态: 已结题
• 来源: https://dataportal.arc.gov.au/RGS/Web/Grants/DP180102250
• 关键词: Navigating; under; forest; canopy; urban

This project aims to develop a framework for unmanned aerial vehicles (UAV), which optimally balances localisation, mapping and other objectives in order to solve sequential decision tasks under map and pose uncertainty. This project expects to generate new knowledge in UAV navigation using an innovative approach by combining simultaneous localisation and mapping algorithms with partially observable markov decision processes. The project’s expected outcomes will enable UAVs to solve multiple objectives under map and pose uncertainty in GPS-denied environments. This will provide significant benefits, such as more responsive disaster management, bushfire monitoring and biosecurity, and improved environmental monitoring.

该项目旨在开发一个无人机(UAV)框架，优化平衡定位、测绘和其他目标，以解决MAP和姿态不确定性下的顺序决策任务。该项目希望通过将同步定位和测绘算法与部分可观测的马尔可夫决策过程相结合，使用一种创新的方法在无人机导航中产生新的知识。该项目的预期结果将使无人机能够在MAP下解决多个目标，并在GPS拒绝的环境中构成不确定性。这将带来重大好处，例如更迅速的灾害管理、林火监测和生物安全以及改善环境监测。