DMCA
Autonomous Flight in Unknown Indoor Environments
| Venue: | Int. J. Micro Air Veh. 2009 |
| Citations: | 35 - 5 self |
BibTeX
@ARTICLE{Bachrach_autonomousflight,
author = {Abraham Bachrach and Ruijie He and Nicholas Roy},
title = {Autonomous Flight in Unknown Indoor Environments},
journal = {Int. J. Micro Air Veh. 2009},
year = {},
pages = {277--298}
}
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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 environ-ments. While these capabilities are already com-modities on ground vehicles, air vehicles seeking the same performance face unique challenges. In this paper, we describe the difficulties in achiev-ing fully autonomous helicopter flight, highlight-ing the differences between ground and heli-copter robots that make it difficult to use al-gorithms that have been developed for ground robots. We then provide an overview of our so-lution to the key problems, including a multi-level 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.1 Finally, we show ex-perimental results demonstrating the helicopter’s ability to navigate accurately and autonomously in unknown environments. 1
Keyphrases
autonomous flight unknown indoor environment high-level slam implementation high-speed laser scan-matching algorithm laser rangefinder sensor performance face unique challenge autonomous helicopter flight unknown environment data fusion ground vehicle key problem ex-perimental result multi-level sensing heli-copter robot ground robot air vehicle unknown indoor environ-ments quadrotor helicopter control hierarchy exploration planner helicopter ability
