(Georgia Institute of Technology, 2009-07)
Chowdhary, Girish; Christmann, Hans Claus; Johnson, Eric N.; Salaün, Erwan; Sobers, D. Michael Jr.
This paper examines the use of low-cost range and target identification sensors on a stable
flying vehicle for suitability in solving the 5th Mission proposed for the 2009 International
Aerial Robotics Competition. The ability for vehicles to navigate unknown environments is
critical for autonomous operation. Mapping of a vehicle's environment and self-localization
within that environment are especially difficult for an Unmanned Aerial Vehicle (UAV) due
to the complexity of UAV attitude and motion dynamics. Using a stable vehicle platform and
taking advantage of the geometric structure typical of most indoor environments reduces the
complexity of the localization and mapping problem to the point that wall and obstacle
location can be determined using low-cost range sensors. Target identification is
accomplished remotely using an onboard video camera with a radio transmitter. Thus
complex and time-consuming image processing routines are run on a more powerful
computer, enabling further miniaturization of the flight vehicle.