Integrated guidance navigation and control for a fully autonomous indoor UAS

Girish Chowdhary, D. Michael Sobers, Chintasid Pravitra, Claus Christmann, Allen Wu, Hiroyuki Hashimoto, Chester Ong, Roshan Kalghatgi, Eric Johnson

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

12 Citations (Scopus)

Abstract

This paper describes the details of a Quadrotor miniature unmanned aerial system capable of autonomously exploring cluttered indoor areas without relying on any external navigational aids such as GPS. A streamlined Simultaneous Localization and Mapping (SLAM) algorithm is implemented onboard the vehicle to fuse information from a scanning laser range sensor, an inertial measurement unit, and an altitude sonar to provide relative position, velocity, and attitude information. This state information, with a self-generated map, is used to implement a frontier-based exhaustive search of an indoor environment. To ensure the SLAM algorithm has sufficient information to form a reliable solution, the guidance algorithm ensures the vehicle approaches frontier waypoints through a path that remains within sensor range of indoor structures. Along with a detailed description of the system, simulation and hardware testing results are presented.

Original languageEnglish (US)
Title of host publicationAIAA Guidance, Navigation, and Control Conference 2011
StatePublished - Dec 1 2011
EventAIAA Guidance, Navigation and Control Conference 2011 - Portland, OR, United States
Duration: Aug 8 2011Aug 11 2011

Other

OtherAIAA Guidance, Navigation and Control Conference 2011
CountryUnited States
CityPortland, OR
Period8/8/118/11/11

Fingerprint

Navigation
Units of measurement
Sensors
Sonar
Electric fuses
Global positioning system
Antennas
Scanning
Hardware
Lasers
Testing

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Chowdhary, G., Sobers, D. M., Pravitra, C., Christmann, C., Wu, A., Hashimoto, H., ... Johnson, E. (2011). Integrated guidance navigation and control for a fully autonomous indoor UAS. In AIAA Guidance, Navigation, and Control Conference 2011
Chowdhary, Girish ; Sobers, D. Michael ; Pravitra, Chintasid ; Christmann, Claus ; Wu, Allen ; Hashimoto, Hiroyuki ; Ong, Chester ; Kalghatgi, Roshan ; Johnson, Eric. / Integrated guidance navigation and control for a fully autonomous indoor UAS. AIAA Guidance, Navigation, and Control Conference 2011. 2011.
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Chowdhary, G, Sobers, DM, Pravitra, C, Christmann, C, Wu, A, Hashimoto, H, Ong, C, Kalghatgi, R & Johnson, E 2011, Integrated guidance navigation and control for a fully autonomous indoor UAS. in AIAA Guidance, Navigation, and Control Conference 2011. AIAA Guidance, Navigation and Control Conference 2011, Portland, OR, United States, 8/8/11.

Integrated guidance navigation and control for a fully autonomous indoor UAS. / Chowdhary, Girish; Sobers, D. Michael; Pravitra, Chintasid; Christmann, Claus; Wu, Allen; Hashimoto, Hiroyuki; Ong, Chester; Kalghatgi, Roshan; Johnson, Eric.

AIAA Guidance, Navigation, and Control Conference 2011. 2011.

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

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AU - Sobers, D. Michael

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Chowdhary G, Sobers DM, Pravitra C, Christmann C, Wu A, Hashimoto H et al. Integrated guidance navigation and control for a fully autonomous indoor UAS. In AIAA Guidance, Navigation, and Control Conference 2011. 2011