自主系统：室内无人机导航
Autonomous Systems: Autonomous Systems: Indoor Drone Navigation
AI总结：
本文利用 Gazebo、Navigation2 和 SLAM Toolbox 构建了一个可在无 GPS 室内环境中自主导航的模拟四旋翼无人机，填补了 Nav2 在无人机领域应用的空白。
摘要：
无人机是用于自主数据采集和室内感知的一项很有前景的技术。在人类控制的无人机可能不实用或不可靠的情况下，例如在未知或危险的地点，使用自主无人机可提供灵活性、成本节约和降低风险。该系统利用 Gazebo 仿真工具和名为 Navigation2 的 ROS 导航系统框架，创建了一个能够在室内环境中自主飞行的模拟四旋翼飞行器。虽然 Nav2 已成功展示了地面机器人和车辆中的自主导航功能，但在无人驾驶飞行器上尚未实现同样的功能，仍有待完成。目标是利用 ROS 的 SLAM Toolbox 和 Nav2 导航系统框架，构建一个能够在室内（无 GPS）环境中自主移动的模拟无人机。
英文摘要：
Drones are a promising technology for autonomous data collection and indoor sensing. In situations when human-controlled UAVs may not be practical or dependable, such as in uncharted or dangerous locations, the usage of autonomous UAVs offers flexibility, cost savings, and reduced risk. The system creates a simulated quadcopter capable of autonomously travelling in an indoor environment using the gazebo simulation tool and the ros navigation system framework known as Navigaation2. While Nav2 has successfully shown the functioning of autonomous navigation in terrestrial robots and vehicles, the same hasn't been accomplished with unmanned aerial vehicles and still has to be done. The goal is to use the slam toolbox for ROS and the Nav2 navigation system framework to construct a simulated drone that can move autonomously in an indoor (gps-less) environment.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
