Title:
Georgia Tech Team Entry for the 2012 AUVSI International Aerial Robotics Competition

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Author(s)
Magree, Daniel
Bershadsky, Dmitry
Wang, Xo
Valdez, Pierre
Antico, Jason
Coder, Ryan
Dyer, Timothy
George, Eohan
Johnson, Eric N.
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Abstract
This paper describes the details of a Quadrotor Unmanned Aerial Vehicle capable of exploring cluttered indoor areas without relying on any external navigational aids. A 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 avoidance and guidance system is implemented to ensure that the vehicle explores maximum indoor area. A model reference adaptive control architecture is used to ensure stability and mitigation of uncertainties. Finally, an object detection system is implemented to identify target objects for retrieval.
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2012-08
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Proceedings
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