DEVELOPMENT OF DRONE BASED SLAM

Abstract

This research looks at how to merge two systems, SLAM and UAV. The key difference is that using the UAV attitude controller provides a constant starting value for the SLAM system, allowing the direct SLAM approach to converge more quickly and effectively. The UAV position controller enhances stability by gathering accurate local information using SLAM. This allows two autonomous systems to help each other. Finally, we devise relevant experiments to put the technique to the test. The idea is supported by a positive reaction to the camera's fast rotation. The system consists of a low-cost commercial drone and a remote-control device that allows the SLAM algorithms to be calculated using a ROS-based distributed node system (Robot Operating System).