Autonomous Flight in Unknown Indoor Environments
Name
Roy_Autonomous Flight.pdf
Size
543.85 KB
Format
Adobe PDF
Checksum (MD5)
89c149c0742cba15d6fe529c352c1835
Author(s)
Bachrach, Abraham Galton
He, Ruijie
Roy, Nicholas
Date Issued
December 2009
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. DOI: 10.1260/175682909790291492
Version
Author's final manuscript
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
http://multi-science.metapress.com/content/80586kml376k2711/
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
Creative Commons Attribution-Noncommercial-Share Alike 3.0
Persistent DSpace Link
DOI of Published Version
http://dx.doi.org/10.1260/175682909790291492
https://doi.org/10.1260/175682909790291492
