Title:
Indoor Navigation for Unmanned Aerial Vehicles
Indoor Navigation for Unmanned Aerial Vehicles
Author(s)
Sobers, D. Michael Jr.
Chowdhary, Girish
Johnson, Eric N.
Chowdhary, Girish
Johnson, Eric N.
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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 environ-
ment 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.
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Date Issued
2009-08
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Text
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Proceedings