A State of the Art in Simultaneous Localization and Mapping (SLAM) for Unmanned Ariel Vehicle (UAV):A-Review

Abdul Rauf, Muhammad Jehanzeb Irshad, Syed Muhammad Wasif, Zubair Mehmood, Tayybah Kiren, Nazam Siddique

Abstract


For the last decade, the main problem that has attracted researchers' attention in aerial robotics is the position estimation or Simultaneously Localization and Mapping (SLAM) of Unmanned Aerial Vehicles (UAV) where the GPS signal is poor or denied. This article reviews the strengths and weaknesses of existing methods in the field of aerial robotics. There are many different techniques and algorithms which are used to overcome the localization and mapping problems of these UAVs. These techniques and algorithms use different sensors like Red Green Blue-Depth (RGB_D), Light Detecting and Ranging (LIDAR), and Ultra-wideband (UWB). The most common technique is used, i.e., probability-based SLAM which used two algorithms Linear Kalman Filter (LKF) and Extended Kalman Filter (EKF). LKF consists of five phases and this algorithm is just used for linear system problems however, on the other hand, the EKF algorithm is used for non-linear systems. Aerial robots are used to perform many tasks like rescue, transportation, search, control, monitoring, and different military operations because of their vast top view. These properties are increasing their demand as compared to human service. In this paper, different techniques for the localization of  Aerial Vehicles are discussed in terms of pros & cons, practicality, and efficiency. This work provides ease for future researchers to find the suitable SLAM solution based on their problems; either the researcher is dealing with a linear problem or a non-linear problem.


Keywords:

EKF; Extended Kalman filter; Light detecting andrange; Linear Kalman filter; Simultaneously localization andmapping; SLAM; Unmanned aerial vehicle

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