Title:
Development of a 500 gram Vision-based Autonomous Quadrotor Vehicle Capable of Indoor Navigation
Development of a 500 gram Vision-based Autonomous Quadrotor Vehicle Capable of Indoor Navigation
Author(s)
Haviland, Stephen
Bershadsky, Dmitry
Magree, Daniel
Johnson, Eric N.
Bershadsky, Dmitry
Magree, Daniel
Johnson, Eric N.
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Abstract
This paper presents the work and related research done in preparation for the American Helicopter Society (AHS) Micro Aerial Vehicle (MAV) Student Challenge. The described MAV operates without human interaction in search of a ground target in an open indoor environment. The Georgia Tech Quadrotor-Mini (GTQ-Mini) weighs under 500 grams and was specifically sized to carry a high processing computer. The system platform also consists of a monocular camera, sonar, and an inertial measurement unit (IMU). All processing is done onboard the vehicle using a lightweight powerful
computer. A vision navigation system generates vehicle state data and image feature estimates in a vision SLAM formation using a Bierman Thornton extended Kalman Filter (BTEKF). Simulation and flight tests have been performed to show and validate the systems performance.
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Date Issued
2015-05
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Text
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Proceedings