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Johnson, Eric N.

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Author: Chowdhary, Girish × Author: Hashimoto, Hiroyuki ×

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Self-Contained Autonomous Indoor Flight with Ranging Sensor Navigation

2012-11 , Chowdhary, Girish , Sobers, D. Michael, Jr. , Pravitra, Chintasid , Christmann, Hans Claus , Wu, Allen , Hashimoto, Hiroyuki , Ong, Chester , Kalghatgi, Roshan , Johnson, Eric N.

This paper describes the design and flight test of a completely self-contained autonomous indoor Miniature Unmanned Aerial System (M-UAS). Guidance, navigation, and control algorithms are presented, enabling the M-UAS to autonomously explore cluttered indoor areas without relying on any off-board computation or external navigation aids such as GPS. The system uses a scanning laser rangefinder and a streamlined Simultaneous Localization and Mapping (SLAM) algorithm to provide a position and heading estimate, which is combined with other sensor data to form a six degree-of-freedom inertial navigation solution. This enables an accurate estimate of the vehicle attitude, relative position, and velocity. The state information, with a self-generated map, is used to implement a frontier-based exhaustive search of an indoor environment. Improvements to existing guidance algorithms balance exploration with the need to remain within sensor range of indoor structures such that the SLAM algorithm has sufficient information to form a reliable position estimate. A dilution of precision metric is developed to quantify the effect of environment geometry on the SLAM pose covariance, which is then used to update the 2-D position and heading in the navigation filter. Simulation and flight test results validate the presented algorithms.

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Integrated Guidance Navigation and Control for a Fully Autonomous Indoor UAS

2011-08 , Chowdhary, Girish , Sobers, D. Michael, Jr. , Pravitra, Chintasid , Christmann, Hans Claus , Wu, Allen , Hashimoto, Hiroyuki , Ong, Chester , Kalghatgi, Roshan , Johnson, Eric N.

This paper describes the details of a Quadrotor miniature unmanned aerial system capable of autonomously exploring cluttered indoor areas without relying on any external navigational aids such as GPS. A streamlined Simultaneous Localization and Mapping (SLAM) algorithm is implemented onboard the vehicle to fuse information from a scanning laser range sensor, an inertial measurement unit, and an altitude sonar to provide relative position, velocity, and attitude information. This state information, with a self-generated map, is used to implement a frontier-based exhaustive search of an indoor environment. To ensure the SLAM algorithm has sufficient information to form a reliable solution, the guidance algorithm ensures the vehicle approaches frontier waypoints through a path that remains within sensor range of indoor structures. Along with a detailed description of the system, simulation and hardware testing results are presented.

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Georgia Tech Team Entry for the 2011 AUVSI International Aerial Robotics Competition

2011-08 , Chowdhary, Girish , Magree, Daniel , Bershadsky, Dmitry , Dyer, Timothy , George, Eohan , Hashimoto, Hiroyuki , Kalghatgi, Roshan , Johnson, Eric N.

his paper describes the details of a Quadrotor Unmanned Aerial Vehicle capable of exploring cluttered indoor areas without relying on any external navigational aids. An elaborate Simultaneous Localization and Mapping (SLAM) algorithm is used to fuse information from a laser range sensor, an inertial measurement unit, and an altitude sonar to provide relative position, velocity, and attitude information. A wall-following guidance rule is implemented to ensure that the vehicle explores maximum indoor area in a reasonable amount of time. A model reference adaptive control architecture is used to ensure stability and mitigation of uncertainties. The vehicle is intended to be Georgia Tech Aerial Robotic Team's entry for the 2011 International Aerial Robotics Competition (IARC) Symposium on Indoor Flight Issues.

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