Applying Artificial Bee Colony Algorithm for feature optimization in UAV Navigation

Abstract

In this paper, the bee colony algorithm is used for optimizing features which have been extracted from UAV’s digital camera by SURF algorithm. To do that, the local map is stored in UAV memory before flight. During flight, images will be captured by a digital camera and the features in successive image will be extracted using SURF algorithm because SURF algorithm is considered highly insensitive to environmental light, scale changes and noise. Then, the extracted features will be optimized using the bee colony algorithm and will be compared with the original map features to find the location and direction of UAV. Simulations show that proposed algorithm has good precision and is robust to scale changes, light intensity variations, and noise.