Title:
Integrated Guidance Navigation and Control for a Fully Autonomous Indoor UAS
Integrated Guidance Navigation and Control for a Fully Autonomous Indoor UAS
Author(s)
Chowdhary, Girish
Sobers, D. Michael, Jr.
Pravitra, Chintasid
Christmann, Hans Claus
Wu, Allen
Hashimoto, Hiroyuki
Ong, Chester
Kalghatgi, Roshan
Johnson, Eric N.
Sobers, D. Michael, Jr.
Pravitra, Chintasid
Christmann, Hans Claus
Wu, Allen
Hashimoto, Hiroyuki
Ong, Chester
Kalghatgi, Roshan
Johnson, Eric N.
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Abstract
This paper describes the details of a Quadrotor miniature unmanned aerial system capable of autonomously exploring cluttered indoor areas without relying on any external navigational aids such as GPS. A streamlined Simultaneous Localization and Mapping (SLAM) algorithm is implemented onboard the vehicle to fuse information from a scanning
laser range sensor, an inertial measurement unit, and an altitude sonar to provide relative
position, velocity, and attitude information. This state information, with a self-generated
map, is used to implement a frontier-based exhaustive search of an indoor environment.
To ensure the SLAM algorithm has sufficient information to form a reliable solution, the
guidance algorithm ensures the vehicle approaches frontier waypoints through a path that remains within sensor range of indoor structures. Along with a detailed description of the
system, simulation and hardware testing results are presented.
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Date Issued
2011-08
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Text
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Proceedings