Probabilistic Membrane Computing-Based SLAM for Patrol UAVs in Coal Mines

Patrol unmanned aerial vehicles (UAVs) in coal mines have high requirements for environmental perception. Because there are no GPS signals in a mine, it is necessary to use simultaneous localization and mapping (SLAM) to realize environmental perception for UAVs. Combined with complex coal mine envi...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Jiachang Xu, Yourui Huang, Ruijuan Zhao, Yu Liu, Hongjin Li
Formato:	article
Lenguaje:	EN
Publicado:	Hindawi Limited 2021
Materias:	Technology (General) T1-995
Acceso en línea:	https://doaj.org/article/c71ddaf68cd244dca9decaecacfaa9d2
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:c71ddaf68cd244dca9decaecacfaa9d2
record_format	dspace
spelling	oai:doaj.org-article:c71ddaf68cd244dca9decaecacfaa9d22021-11-29T00:56:21ZProbabilistic Membrane Computing-Based SLAM for Patrol UAVs in Coal Mines1687-726810.1155/2021/7610126https://doaj.org/article/c71ddaf68cd244dca9decaecacfaa9d22021-01-01T00:00:00Zhttp://dx.doi.org/10.1155/2021/7610126https://doaj.org/toc/1687-7268Patrol unmanned aerial vehicles (UAVs) in coal mines have high requirements for environmental perception. Because there are no GPS signals in a mine, it is necessary to use simultaneous localization and mapping (SLAM) to realize environmental perception for UAVs. Combined with complex coal mine environments, an integrated navigation algorithm for unmanned helicopter inertial measurement units (IMUs), light detection and ranging (LiDAR) systems, and depth cameras based on probabilistic membrane computing-based SLAM (PMC-SLAM) is proposed. First, based on an analysis of the working principle of each sensor, the mathematical models for the corresponding sensors are given. Second, an algorithm is designed for the membrane, and a probabilistic membrane system is constructed. The probabilistic SLAM map is constructed by sparse filtering. The experimental results show that PMC can further improve the accuracy of map construction. While adapting to the trend of intelligent precision mining in coal mines, this approach provides theoretical support and application practice for coal mine disaster prevention and control.Jiachang XuYourui HuangRuijuan ZhaoYu LiuHongjin LiHindawi LimitedarticleTechnology (General)T1-995ENJournal of Sensors, Vol 2021 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Technology (General) T1-995
spellingShingle	Technology (General) T1-995 Jiachang Xu Yourui Huang Ruijuan Zhao Yu Liu Hongjin Li Probabilistic Membrane Computing-Based SLAM for Patrol UAVs in Coal Mines
description	Patrol unmanned aerial vehicles (UAVs) in coal mines have high requirements for environmental perception. Because there are no GPS signals in a mine, it is necessary to use simultaneous localization and mapping (SLAM) to realize environmental perception for UAVs. Combined with complex coal mine environments, an integrated navigation algorithm for unmanned helicopter inertial measurement units (IMUs), light detection and ranging (LiDAR) systems, and depth cameras based on probabilistic membrane computing-based SLAM (PMC-SLAM) is proposed. First, based on an analysis of the working principle of each sensor, the mathematical models for the corresponding sensors are given. Second, an algorithm is designed for the membrane, and a probabilistic membrane system is constructed. The probabilistic SLAM map is constructed by sparse filtering. The experimental results show that PMC can further improve the accuracy of map construction. While adapting to the trend of intelligent precision mining in coal mines, this approach provides theoretical support and application practice for coal mine disaster prevention and control.
format	article
author	Jiachang Xu Yourui Huang Ruijuan Zhao Yu Liu Hongjin Li
author_facet	Jiachang Xu Yourui Huang Ruijuan Zhao Yu Liu Hongjin Li
author_sort	Jiachang Xu
title	Probabilistic Membrane Computing-Based SLAM for Patrol UAVs in Coal Mines
title_short	Probabilistic Membrane Computing-Based SLAM for Patrol UAVs in Coal Mines
title_full	Probabilistic Membrane Computing-Based SLAM for Patrol UAVs in Coal Mines
title_fullStr	Probabilistic Membrane Computing-Based SLAM for Patrol UAVs in Coal Mines
title_full_unstemmed	Probabilistic Membrane Computing-Based SLAM for Patrol UAVs in Coal Mines
title_sort	probabilistic membrane computing-based slam for patrol uavs in coal mines
publisher	Hindawi Limited
publishDate	2021
url	https://doaj.org/article/c71ddaf68cd244dca9decaecacfaa9d2
work_keys_str_mv	AT jiachangxu probabilisticmembranecomputingbasedslamforpatroluavsincoalmines AT youruihuang probabilisticmembranecomputingbasedslamforpatroluavsincoalmines AT ruijuanzhao probabilisticmembranecomputingbasedslamforpatroluavsincoalmines AT yuliu probabilisticmembranecomputingbasedslamforpatroluavsincoalmines AT hongjinli probabilisticmembranecomputingbasedslamforpatroluavsincoalmines
_version_	1718407734253060096

Probabilistic Membrane Computing-Based SLAM for Patrol UAVs in Coal Mines

Ejemplares similares