Development of a 500 gram vision-based autonomous quadrotor vehicle capable of indoor navigation

Stephen Haviland, Dmitry Bershadsky, Daniel Magree, Eric Johnson

Research output: Contribution to journalArticle

6 Scopus citations


This paper presents the work and related research done in preparation for the American Helicopter Society (AHS) Micro Aerial Vehicle (MAV) Student Challenge. The described MAV operates without human interaction in search of a ground target in an open indoor environment. The Georgia Tech Quadrotor-Mini (GTQ-Mini) weighs under 500 grams and was specifically sized to carry a high processing computer. The system platform also consists of a monocular camera, sonar, and an inertial measurement unit (IMU). All processing is done onboard the vehicle using a lightweight powerful computer. A vision navigation system generates vehicle state data and image feature estimates in a vision SLAM formation using a Bierman Thornton extended Kalman Filter (BTEKF). Simulation and flight tests have been performed to show and validate the systems performance.

Original languageEnglish (US)
Pages (from-to)2799-2805
Number of pages7
JournalAnnual Forum Proceedings - AHS International
Issue numberJanuary
Publication statusPublished - Jan 1 2015


All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this