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 Scopus citations

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

All Science Journal Classification (ASJC) codes

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

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  • Cite this

    Chowdhary, G., Sobers, D. M., 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