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首页> 外文会议>18th International Symposium on Computer and Information Sciences - ISCIS 2003; Nov 3-5, 2003; Antalya, Turkey >The Real-Time Development and Deployment of a Cooperative Multi-UAV System
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The Real-Time Development and Deployment of a Cooperative Multi-UAV System

机译：协同多无人机系统的实时开发与部署

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摘要

This paper presents a systems view of the Autonomous Navigation and Sensing Experimental Research (ANSER) project. ANSER is one of the most advanced UAV projects of its kind, which is aimed at demonstrating Decentralised Data Fusion (DDF) and Simultaneous Localisation and Map (SLAM) building on multiple cooperative UAVs. The demonstration of DDF and SLAM require both navigation and terrain sensors to be carried onboard by the UAVs. These include an INS/GPS navigation system, millimeter wave (MMW) radar, and both a single vision node and a vision node augmented with a laser system. This paper presents the implementation of the algorithms, sensors and platforms, along with their interaction to address this demonstration. Furthermore, the paper will present the high fidelity real time simulator which is implemented to thoroughly test all algorithms and sensors before actual implementation in the environment.
机译：本文介绍了自主导航和传感实验研究（ANSER）项目的系统视图。 ANSER是同类最先进的无人机项目之一，旨在演示在多个协作式无人机上构建的分散数据融合（DDF）和同时定位与地图（SLAM）。 DDF和SLAM的演示要求无人机携带导航和地形传感器。其中包括INS / GPS导航系统，毫米波（MMW）雷达，以及单个视觉节点和增强了激光系统的视觉节点。本文介绍了算法，传感器和平台的实现，以及它们之间的相互作用以解决该演示问题。此外，本文还将介绍高保真实时仿真器，该仿真器旨在在环境中实际实施之前彻底测试所有算法和传感器。

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