Self-contained autonomous indoor flight with ranging sensor navigation

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

Research output: Contribution to journalArticle

20 Citations (Scopus)

Abstract

This paper describes the design and flight test of a completely self-contained autonomous indoor miniature unmanned aerial system (M-UAS). Guidance, navigation, and control algorithms are presented, enabling the M-UAS to autonomously explore cluttered indoor areas without relying on any off-board computation or external navigation aids such as Global Positioning Satellite (GPS). The system uses a scanning laser rangefinder and a streamlined simultaneous localization and mapping (SLAM) algorithm to provide a position and heading estimate, which is combined with other sensor data to form a six-degree-of-freedom inertial navigation solution. This enables an accurate estimate of the vehicle attitude, relative position, and velocity. The state information, with a selfgenerated map, is used to implement a frontier-based exhaustive search of an indoor environment. Improvements to existing guidance algorithms balance exploration with the need to remain within sensor range of indoor structures such that the SLAM algorithm has sufficient information to form a reliable position estimate. A dilution of the precision metric is developed to quantify the effect of environment geometry on the SLAM pose covariance, which is then used to update the two-dimensional position and heading in the navigation filter. Simulation and flight-test results validate the presented algorithms.

Original languageEnglish (US)
Pages (from-to)1843-1854
Number of pages12
JournalJournal of Guidance, Control, and Dynamics
Volume35
Issue number6
DOIs
StatePublished - Nov 1 2012

Fingerprint

navigation
Simultaneous Localization and Mapping
Navigation
flight
sensor
Sensor
sensors
Sensors
Guidance
Inertial Navigation
Estimate
flight tests
Laser Scanning
navigation aid
Exhaustive Search
Antennas
Range finders
navigation aids
Electronic guidance systems
Positioning

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Aerospace Engineering
  • Space and Planetary Science
  • Electrical and Electronic Engineering
  • Applied Mathematics

Cite this

Chowdhary, G., Sobers, D. M., Pravitra, C., Christmann, C., Wu, A., Hashimoto, H., ... Johnson, E. (2012). Self-contained autonomous indoor flight with ranging sensor navigation. Journal of Guidance, Control, and Dynamics, 35(6), 1843-1854. https://doi.org/10.2514/1.55410
Chowdhary, Girish ; Sobers, D. Michael ; Pravitra, Chintasid ; Christmann, Claus ; Wu, Allen ; Hashimoto, Hiroyuki ; Ong, Chester ; Kalghatgi, Roshan ; Johnson, Eric. / Self-contained autonomous indoor flight with ranging sensor navigation. In: Journal of Guidance, Control, and Dynamics. 2012 ; Vol. 35, No. 6. pp. 1843-1854.
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Chowdhary, G, Sobers, DM, Pravitra, C, Christmann, C, Wu, A, Hashimoto, H, Ong, C, Kalghatgi, R & Johnson, E 2012, 'Self-contained autonomous indoor flight with ranging sensor navigation', Journal of Guidance, Control, and Dynamics, vol. 35, no. 6, pp. 1843-1854. https://doi.org/10.2514/1.55410

Self-contained autonomous indoor flight with ranging sensor navigation. / Chowdhary, Girish; Sobers, D. Michael; Pravitra, Chintasid; Christmann, Claus; Wu, Allen; Hashimoto, Hiroyuki; Ong, Chester; Kalghatgi, Roshan; Johnson, Eric.

In: Journal of Guidance, Control, and Dynamics, Vol. 35, No. 6, 01.11.2012, p. 1843-1854.

Research output: Contribution to journalArticle

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Chowdhary G, Sobers DM, Pravitra C, Christmann C, Wu A, Hashimoto H et al. Self-contained autonomous indoor flight with ranging sensor navigation. Journal of Guidance, Control, and Dynamics. 2012 Nov 1;35(6):1843-1854. https://doi.org/10.2514/1.55410