UAV Navigation in Unknown Indoor Environment Aware of Localization Uncertainty by Using Trilateration Method Based on UGVs
Osamu Nakeshbandi, Satoshi Kumano, Zhidong Wang · 2025
In this work, we propose a motion control method for a UAV that leverages Virtual Interactive Force to navigate in unknown indoor environments in real-time, utilizing a three-dimensional localization. The localization process is achieved through trilateration, with UGVs serving as cooperative reference stations while the UAV functions as the receiver. To demonstrate robust performance of a UAV navigation in unknown indoor environments, localization uncertainty is considered by estimating propagation errors from UGV and cameras to the UAV. The proposed approach is validated through simulations, demonstrating our method enables safe and adaptive motion control, effectively avoiding obstacles while maintaining stable navigation in GPS-denied environments.