A Simultaneous Control, Localization, and Mapping System for UAVs in GPS-Denied Environments
Unmanned Aerial Vehicles (UAVs) have gained significant attention due to their versatility in applications such as surveillance, reconnaissance, and search-and-rescue operations. In GPS-denied environments, where traditional navigation systems fail, the need for alternative solutions is critical. Th...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-01-01
|
| Series: | Drones |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2504-446X/9/1/69 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832588636691890176 |
|---|---|
| author | Rodrigo Munguia Antoni Grau Yolanda Bolea Guillermo Obregón-Pulido |
| author_facet | Rodrigo Munguia Antoni Grau Yolanda Bolea Guillermo Obregón-Pulido |
| author_sort | Rodrigo Munguia |
| collection | DOAJ |
| description | Unmanned Aerial Vehicles (UAVs) have gained significant attention due to their versatility in applications such as surveillance, reconnaissance, and search-and-rescue operations. In GPS-denied environments, where traditional navigation systems fail, the need for alternative solutions is critical. This paper presents a novel visual-based Simultaneous Control, Localization, and Mapping (SCLAM) system tailored for UAVs operating in GPS-denied environments. The proposed system integrates monocular-based SLAM and high-level control strategies, enabling autonomous navigation, real-time mapping, and robust localization. The experimental results demonstrate the system’s effectiveness in allowing UAVs to autonomously explore, return to a home position, and maintain consistent mapping in virtual GPS-denied scenarios. This work contributes a flexible architecture capable of addressing the challenges of autonomous UAV navigation and mapping, with potential for further development and real-world application. |
| format | Article |
| id | doaj-art-8fd3e612fd1e4630a9aba2f14fa2c87a |
| institution | Kabale University |
| issn | 2504-446X |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj-art-8fd3e612fd1e4630a9aba2f14fa2c87a2025-01-24T13:29:52ZengMDPI AGDrones2504-446X2025-01-01916910.3390/drones9010069A Simultaneous Control, Localization, and Mapping System for UAVs in GPS-Denied EnvironmentsRodrigo Munguia0Antoni Grau1Yolanda Bolea2Guillermo Obregón-Pulido3Department of Computer Science, University Center of Exact Science and Engineering, University of Guadalajara, Guadalajara 44430, MexicoDepartment of Automatic Control, Technical University of Catalonia UPC, 08034 Barcelona, SpainDepartment of Automatic Control, Technical University of Catalonia UPC, 08034 Barcelona, SpainDepartment of Computer Science, University Center of Exact Science and Engineering, University of Guadalajara, Guadalajara 44430, MexicoUnmanned Aerial Vehicles (UAVs) have gained significant attention due to their versatility in applications such as surveillance, reconnaissance, and search-and-rescue operations. In GPS-denied environments, where traditional navigation systems fail, the need for alternative solutions is critical. This paper presents a novel visual-based Simultaneous Control, Localization, and Mapping (SCLAM) system tailored for UAVs operating in GPS-denied environments. The proposed system integrates monocular-based SLAM and high-level control strategies, enabling autonomous navigation, real-time mapping, and robust localization. The experimental results demonstrate the system’s effectiveness in allowing UAVs to autonomously explore, return to a home position, and maintain consistent mapping in virtual GPS-denied scenarios. This work contributes a flexible architecture capable of addressing the challenges of autonomous UAV navigation and mapping, with potential for further development and real-world application.https://www.mdpi.com/2504-446X/9/1/69simultaneous controllocalizationmappingUAVsGSP-deniedvisual-based |
| spellingShingle | Rodrigo Munguia Antoni Grau Yolanda Bolea Guillermo Obregón-Pulido A Simultaneous Control, Localization, and Mapping System for UAVs in GPS-Denied Environments Drones simultaneous control localization mapping UAVs GSP-denied visual-based |
| title | A Simultaneous Control, Localization, and Mapping System for UAVs in GPS-Denied Environments |
| title_full | A Simultaneous Control, Localization, and Mapping System for UAVs in GPS-Denied Environments |
| title_fullStr | A Simultaneous Control, Localization, and Mapping System for UAVs in GPS-Denied Environments |
| title_full_unstemmed | A Simultaneous Control, Localization, and Mapping System for UAVs in GPS-Denied Environments |
| title_short | A Simultaneous Control, Localization, and Mapping System for UAVs in GPS-Denied Environments |
| title_sort | simultaneous control localization and mapping system for uavs in gps denied environments |
| topic | simultaneous control localization mapping UAVs GSP-denied visual-based |
| url | https://www.mdpi.com/2504-446X/9/1/69 |
| work_keys_str_mv | AT rodrigomunguia asimultaneouscontrollocalizationandmappingsystemforuavsingpsdeniedenvironments AT antonigrau asimultaneouscontrollocalizationandmappingsystemforuavsingpsdeniedenvironments AT yolandabolea asimultaneouscontrollocalizationandmappingsystemforuavsingpsdeniedenvironments AT guillermoobregonpulido asimultaneouscontrollocalizationandmappingsystemforuavsingpsdeniedenvironments AT rodrigomunguia simultaneouscontrollocalizationandmappingsystemforuavsingpsdeniedenvironments AT antonigrau simultaneouscontrollocalizationandmappingsystemforuavsingpsdeniedenvironments AT yolandabolea simultaneouscontrollocalizationandmappingsystemforuavsingpsdeniedenvironments AT guillermoobregonpulido simultaneouscontrollocalizationandmappingsystemforuavsingpsdeniedenvironments |