A compact exploration strategy for indoor flight vehicles

Chintasid Pravitra, Girish Chowdhary, Eric Johnson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

19 Scopus citations

Abstract

This paper presents a compact exploration strategy designed to be implemented onboard indoor Miniature Air Vehicles (MAVs) operating in cluttered and confined environments. The exploration strategy uses 2D range information from a laser range scanner to generate velocity commands by blending a Sensor-based Random Tree frontier planner with a wall-following velocity field generator. The combined approach leverages the efficient exploration capabilities of frontier-based guidance and ensures that the vehicles follows a path that is free of obstacles and conducive to maintaining good scan geometry through a wall-following approach. The strategy has been successfully implemented and tested on a Quadrotor MAV and simulation results are presented. Flight test results shall be included in the final version.

Original languageEnglish (US)
Title of host publication2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Pages3572-3577
Number of pages6
DOIs
StatePublished - 2011
Event2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States
Duration: Dec 12 2011Dec 15 2011

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
CountryUnited States
CityOrlando, FL
Period12/12/1112/15/11

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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