TY - GEN
T1 - Indoor navigation for Unmanned Aerial Vehicles
AU - Sobers, D. Michael
AU - Chowdhary, Girish
AU - Johnson, Eric N.
PY - 2009
Y1 - 2009
N2 - 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 inuences 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 map- ping 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.
AB - 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 inuences 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 map- ping 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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M3 - Conference contribution
AN - SCOPUS:78049264937
SN - 9781563479786
T3 - AIAA Guidance, Navigation, and Control Conference and Exhibit
BT - AIAA Guidance, Navigation, and Control Conference and Exhibit
T2 - AIAA Guidance, Navigation, and Control Conference and Exhibit
Y2 - 10 August 2009 through 13 August 2009
ER -