Flight in GPS-denied environment: Autonomous navigation system for micro-aerial vehicle

Autonomous navigation in GPS-denied environments is a challenging task for MAV (Micro-Aerial Vehicle). That needs the MAV to do localization quickly and robustly while avoiding obstacles without the priori knowledge of environment. The limited onboard resources also restrict perceptive capability and computation. In this paper, a completed solution about platform design and software architecture is proposed. The perception system is proposed for localization and perceiving the environment. The motion planning and control system are presented for collision avoidance. Experimental testing reveals that the proposed solution can achieve fast and robust MAV autonomous navigation in GPS-denied environments.