Autonomous Flight in Unstructured and Unknown Indoor Environments
Author(s)Bachrach, Abraham Galton; He, Ruijie; Roy, Nicholas
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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.
Thesis with the same title and author is in DSpace. This is a conference paper.
DepartmentMassachusetts Institute of Technology. Department of Aeronautics and Astronautics; Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
International Journal of Micro Air Vehicles
Multi Science Publishing
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.
Final published version