Title:
Indoor Navigation for Unmanned Aerial Vehicles

dc.contributor.author Sobers, D. Michael Jr.
dc.contributor.author Chowdhary, Girish
dc.contributor.author Johnson, Eric N.
dc.contributor.corporatename Georgia Institute of Technology. School of Aerospace Engineering
dc.date.accessioned 2011-02-15T17:32:19Z
dc.date.available 2011-02-15T17:32:19Z
dc.date.issued 2009-08
dc.description This material is declared a work of the U.S. Government and is not subject to copyright protection in the United States. en_US
dc.description.abstract 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, as well as interference from external influences such as wind. By using a stable vehicle platform and taking advantage of the geometric structure typical of most indoor environments, the complexity of the localization and mapping problem can be reduced. Interior wall and obstacle location can be measured using low-cost range sensors. Relative vehicle location within the mapped environment can then be determined. By alternating between mapping and localization, a vehicle can explore its environment autonomously. This paper examines available low-cost range sensors for suitability in solving the mapping and localization problem. A control system and navigation algorithm are developed to perform mapping of indoor environments and localization. Simulation and experimental results are provided to determine feasibility of the proposed approach to indoor navigation. en_US
dc.identifier.citation Indoor Navigation for Unmanned Aerial Vehicles. Michael Sobers, Girish Chowdhary, Eric N. Johnson. AIAA Guidance Navigation and Control Conference, Chicago, Illinois, August, 2009. en_US
dc.identifier.other AIAA 2009-5658
dc.identifier.uri http://hdl.handle.net/1853/36906
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original American Institute of Aeronautics and Astronautics
dc.subject Unmanned aerial vehicles en_US
dc.subject Autonomous operation en_US
dc.subject Navigation en_US
dc.title Indoor Navigation for Unmanned Aerial Vehicles en_US
dc.type Text
dc.type.genre Article
dspace.entity.type Publication
local.contributor.author Johnson, Eric N.
local.contributor.corporatename Unmanned Aerial Vehicle Research Facility
relation.isAuthorOfPublication 175a1f2b-c14e-4c43-a9e5-136fb7f8e5d0
relation.isOrgUnitOfPublication 5a379df1-c9ee-4bc9-a46e-9969e0eda2b1
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