Title:
Georgia Tech Team Entry for the 2011 AUVSI International Aerial Robotics Competition
Georgia Tech Team Entry for the 2011 AUVSI International Aerial Robotics Competition
Author(s)
Chowdhary, Girish
Magree, Daniel
Bershadsky, Dmitry
Dyer, Timothy
George, Eohan
Hashimoto, Hiroyuki
Kalghatgi, Roshan
Johnson, Eric N.
Magree, Daniel
Bershadsky, Dmitry
Dyer, Timothy
George, Eohan
Hashimoto, Hiroyuki
Kalghatgi, Roshan
Johnson, Eric N.
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Abstract
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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Date Issued
2011-08
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Text
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Proceedings