Design, development, and testing of a low cost, fully autonomous indoor Unmanned Aerial System

Girish Chowdhary, D. Michael Sobers, Erwan Salaün, John A. Ottander, Eric N. Johnson

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

1 Scopus citations

Abstract

This paper is concerned with the design, development, and autonomous flight testing of the GT Lama indoor Unmanned Aerial System (UAS). The GT Lama is a fully autonomous rotorcraft UAS capable of indoor area exploration. It weighs around 1.3 lbs (600 gms), has a width of about 27.6 inches (70 cm), and costs less than USD 900. The GT Lama employs only five off-the-shelf, extremely low-cost range sensors for navigation. The GT Lama does not rely on other expensive and sophisticated sensors, including inertial measurement units, Laser based range scanners, and GPS. The GT Lama achieves this by using simple wall following logic to ensure that maximum perimeter of an indoor environment is explored in a reasonable amount of time. The GT Lama hardware, and the Guidance, Navigation, and Control (GNC) algorithms used are discussed in detail. The details of a MATLAB based method that facilitates rapid in flight validation of GNC algorithms on real flight hardware is also discussed. Results from flight tests as the GT Lama autonomously explores indoor environments are presented.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference
DOIs
StatePublished - Dec 1 2010
EventAIAA Guidance, Navigation, and Control Conference - Toronto, ON, Canada
Duration: Aug 2 2010Aug 5 2010

Publication series

NameAIAA Guidance, Navigation, and Control Conference

Other

OtherAIAA Guidance, Navigation, and Control Conference
CountryCanada
CityToronto, ON
Period8/2/108/5/10

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering

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  • Cite this

    Chowdhary, G., Sobers, D. M., Salaün, E., Ottander, J. A., & Johnson, E. N. (2010). Design, development, and testing of a low cost, fully autonomous indoor Unmanned Aerial System. In AIAA Guidance, Navigation, and Control Conference [AIAA 2010-8053] (AIAA Guidance, Navigation, and Control Conference). https://doi.org/10.2514/6.2010-8053