Integrated guidance navigation and control for a fully autonomous indoor UAS

Girish Chowdhary; D. Michael Sobers; Chintasid Pravitra; Claus Christmann; Allen Wu; Hiroyuki Hashimoto; Chester Ong; Roshan Kalghatgi; Eric Johnson

Integrated guidance navigation and control for a fully autonomous indoor UAS

Girish Chowdhary, D. Michael Sobers, Chintasid Pravitra, Claus Christmann, Allen Wu, Hiroyuki Hashimoto, Chester Ong, Roshan Kalghatgi, Eric Johnson

Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

12 Scopus citations

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.

Original language	English (US)
Title of host publication	AIAA Guidance, Navigation, and Control Conference 2011
State	Published - Dec 1 2011
Event	AIAA Guidance, Navigation and Control Conference 2011 - Portland, OR, United States Duration: Aug 8 2011 → Aug 11 2011

Other

Other	AIAA Guidance, Navigation and Control Conference 2011
Country/Territory	United States
City	Portland, OR
Period	8/8/11 → 8/11/11

All Science Journal Classification (ASJC) codes

Aerospace Engineering
Control and Systems Engineering
Electrical and Electronic Engineering

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Cite this

@inproceedings{b621d9fc8e0246bc946442b32d5c28e9,

title = "Integrated guidance navigation and control for a fully autonomous indoor UAS",

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.",

author = "Girish Chowdhary and Sobers, {D. Michael} and Chintasid Pravitra and Claus Christmann and Allen Wu and Hiroyuki Hashimoto and Chester Ong and Roshan Kalghatgi and Eric Johnson",

year = "2011",

month = dec,

day = "1",

language = "English (US)",

isbn = "9781600869525",

booktitle = "AIAA Guidance, Navigation, and Control Conference 2011",

note = "AIAA Guidance, Navigation and Control Conference 2011 ; Conference date: 08-08-2011 Through 11-08-2011",

}

TY - GEN

T1 - Integrated guidance navigation and control for a fully autonomous indoor UAS

AU - Chowdhary, Girish

AU - Sobers, D. Michael

AU - Pravitra, Chintasid

AU - Christmann, Claus

AU - Wu, Allen

AU - Hashimoto, Hiroyuki

AU - Ong, Chester

AU - Kalghatgi, Roshan

AU - Johnson, Eric

PY - 2011/12/1

Y1 - 2011/12/1

N2 - 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.

AB - 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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M3 - Conference contribution

SN - 9781600869525

BT - AIAA Guidance, Navigation, and Control Conference 2011

T2 - AIAA Guidance, Navigation and Control Conference 2011

Y2 - 8 August 2011 through 11 August 2011

ER -

Integrated guidance navigation and control for a fully autonomous indoor UAS

Abstract

Other

All Science Journal Classification (ASJC) codes

UN SDGs

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