Research

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GPSless localisation for UAV with self-organised distributed coverage of 3D structures

Objective

This project aims to develop

  • a simple and easily deployable localisation solution for UAVs to operate in GPS-denied environments with high accuracy and reliability.

  • distributed algorithms for an autonomous organisation of UAVs to provide specific coverage of static 3D structures under resource and time constraint.


Description

The research team has developed a localisation system consisting of multiple anchor nodes, which allow UAVs to seamlessly measure the relative distance and estimate their existing positions. An effort has also been made to develop a control law that regulates the distance between multiple UAVs, which constantly communicate among themselves while exploring in an unknown region.


Demonstration
            
                           Indoor flight test with four UAVs                             Structural health inspection
                          at a minimum distance of 1.75 m.                            in a GPSless environment.                                               
            
                                    Localisation in forest                           Demonstration of cooperative surveillance,
                                and clustered environment                    search and rescue in an urban environment.


Demonstration Video



Publications




Principal Investigators


Prof Xie Lihua (NTU)

Telephone: 6790 4524
Office: S2-B2c-94
Email: elhxie@ntu.edu.sg
Mr. Paul Tan (STE)

Telephone: 6660 1052
Office: S1-B4a-03
Email: paultan@stengg.com


Co-Principal Investigators


Assistant Prof. Hu Guoqiang (NTU)

Telephone: 6790 4362
Office: S1-B1b-56
Email: gqhu@ntu.edu.sg