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Gnss/Lidar-Based Navigation Of An Aerial Robot In Sparse Forests, Antonio C. Chiella, Henrique N. Machado, Bruno O.S. Teixeira, Guilherme A.S. Pereira

Faculty & Staff Scholarship

Autonomous navigation of unmanned vehicles in forests is a challenging task. In such environments, due to the canopies of the trees, information from Global Navigation Satellite Systems (GNSS) can be degraded or even unavailable. Also, because of the large number of obstacles, a previous detailed map of the environment is not practical. In this paper, we solve the complete navigation problem of an aerial robot in a sparse forest, where there is enough space for the flight and the GNSS signals can be sporadically detected. For localization, we propose a state estimator that merges information from GNSS, Attitude and Heading …