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Please use this identifier to cite or link to this item:
http://hdl.handle.net/10119/19404
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| Title: | Toward Integrating Semantic-aware Path Planning and Reliable Localization for UAV Operations |
| Authors: | Nguyen Canh, Thanh
Ngo, Huy-Hoang
HoangVan, Xiem
Chong, Nak Young |
| Keywords: | Localization
Navigation
UAVs
Semantic Segmentation
Path Planning |
| Issue Date: | 2024-10-29 |
| Publisher: | Institute of Control, Robotics and Systems (ICROS) |
| Magazine name: | 2024 24th International Conference on Control, Automation and Systems (ICCAS) |
| Start page: | 719 |
| End page: | 724 |
| DOI: | 10.23919/ICCAS63016.2024.10773342 |
| Abstract: | Localization is one of the most crucial tasks for Unmanned Aerial Vehicle systems (UAVs) directly impacting overall performance, which can be achieved with various sensors and applied to numerous tasks related to search and rescue operations, object tracking, construction, etc. However, due to the negative effects of challenging environments, UAVs may lose signals for localization. In this paper, we present an effective path-planning system leveraging semantic segmentation information to navigate around texture-less and problematic areas like lakes, oceans, and high-rise buildings using a monocular camera. We introduce a real-time semantic segmentation architecture and a novel keyframe decision pipeline to optimize image inputs based on pixel distribution, reducing processing time. A hierarchical planner based on the Dynamic Window Approach (DWA) algorithm, integrated with a cost map, is designed to facilitate efficient path planning. The system is implemented in a photo-realistic simulation environment using Unity, aligning with segmentation model parameters. Comprehensive qualitative and quantitative evaluations validate the effectiveness of our approach, showing significant improvements in the reliability and efficiency of UAV localization in challenging environments. |
| Rights: | This is the author's version of the work. Copyright (C) ICROS. 2024 24th International Conference on Control, Automation and Systems (ICCAS 2024), 2024, pp. 719-724. DOI: 10.23919/ICCAS63016.2024.10773342. Personal use of this material is permitted. This material is posted here with permission of Institute of Control, Robotics and Systems (ICROS). |
| URI: | http://hdl.handle.net/10119/19404 |
| Material Type: | author |
| Appears in Collections: | b11-1. 会議発表論文・発表資料 (Conference Papers)
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| N-CHONG-I-1210-1.pdf | | 9846Kb | Adobe PDF | View/Open |
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