Comparative Study of SLAM Techniques for UAV

摘要

In the last few decades, the main problem which has attracted the attention of researchers in the field of aerial robotics is the position estimation or Simultaneously Localization and Mapping (SLAM) of aerial vehicles where the GPS system does not work. Aerial robotics are used to perform many tasks such as rescue, transportation, search, control, monitoring, and different military operations where the performance of humans is impossible because of their vast top view and reachability anywhere. There are many different techniques and algorithms which are used to overcome the localization and mapping problem. These techniques and algorithms use different sensors such as Red Green Blue and Depth (RGBD), Light Detecting and Range (LIDAR), Ultra-Wideband (UWB) techniques, and probability-based SLAM which uses two algorithms Linear Kalman Filter (LKF) and Extended Kalman filter (EKF). LKF consists of 5 phases and this algorithm is only used for linear system problems but on the other hand, EKF algorithm is also used for non-linear system. EKF is found better than LKF due to accuracy, practicality, and efficiency while dealing SLAM problem.