Autonomous Flight in Unstructured and Unknown Indoor Environments
Name
Bachrach-Autonomous Flight in Unstructured.pdf
Size
508.19 KB
Format
Adobe PDF
Checksum (MD5)
a8f8e539e41eb5052a43bc77a150fc88
Author(s)
Bachrach, Abraham Galton
He, Ruijie
Roy, Nicholas
Date Issued
January 2010
Journal
International Journal of Micro Air Vehicles
Publisher
Multi Science Publishing
Citation
Bachrach, Abraham, Ruijie He, and Nicholas Roy. “Autonomous Flight in Unknown Indoor Environments.” International Journal of Micro Air Vehicles 1 (2009): 217-228. Web. 9 Dec. 2011.
Version
Final published version
Abstract
This paper presents our solution for enabling a quadrotor helicopter, equipped with a laser rangefinder sensor, to autonomously explore and map unstructured and unknown indoor environments. While these capabilities are already commodities on ground vehicles, air vehicles seeking the same performance face unique challenges. In this paper, we describe the difficulties in achieving fully autonomous helicopter flight, highlighting the differences between ground and helicopter robots that make it difficult to use algorithms that have been developed for ground robots. We then provide an overview of our solution to the key problems, including a multilevel sensing and control hierarchy, a high-speed laser scan-matching algorithm, an EKF for data fusion, a high-level SLAM implementation, and an exploration planner. Finally, we show experimental results demonstrating the helicopter's ability to navigate accurately and autonomously in unknown environments.
Description
Thesis with the same title and author is in DSpace. This is a conference paper.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1260/175682909790291492
