Self-Localization of Anonymous UGVs Using Deep Learning from Periodic Aerial Images for a GPS-Denied Environment

Abstract

This work concerns the autonomous navigation of non-holonomic ground mobile robots in a GPS-denied environment. The objective was to locate, in a global frame, without GPS, anonymous ground mobile robots starting from two consecutive aerial images captured by a single fixed webcam. The effectiveness of deep learning by a MultiLayer Perceptron in an indexed localization was compared to the methods studied in previous works. The ability of a robot to determine the position of other non-indexed robots was also performed. The structure and parameters of the network and the choice of the points taken into account during the learning phase to obtain a local optimum are presented. The results, obtained from simulated and experimental data, are compared to those obtained with more classical methods for different sampling periods (time between images).

Keywords

• anonymous mobile robots
• multi-localization
• deep learning localization
• GPS-denied localization