Indoor Mapping Guidance Algorithm of Rotary-Wing UAV Including Dead-End Situations
A mapping guidance algorithm of a quadrotor for unknown indoor environments is proposed. A sensor with limited sensing range is assumed to be mounted on the quadrotor to obtain object data points. With obtained data, the quadrotor computes velocity vector and yaw commands to move around the object w...
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| Format: | Article |
| Language: | English |
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MDPI AG
2019-11-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/19/22/4854 |
| _version_ | 1817992616019492864 |
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| author | Jongho Park Jaehyun Yoo |
| author_facet | Jongho Park Jaehyun Yoo |
| author_sort | Jongho Park |
| collection | DOAJ |
| description | A mapping guidance algorithm of a quadrotor for unknown indoor environments is proposed. A sensor with limited sensing range is assumed to be mounted on the quadrotor to obtain object data points. With obtained data, the quadrotor computes velocity vector and yaw commands to move around the object while maintaining a safe distance. The magnitude of the velocity vector is also controlled to prevent a collision. The distance transform method is applied to establish dead-end situation logic as well as exploration completion logic. When a dead-end situation occurs, the guidance algorithm of the quadrotor is switched to a particular maneuver. The proposed maneuver enables the quadrotor not only to escape from the dead-end situation, but also to find undiscovered area to continue mapping. Various numerical simulations are performed to verify the performance of the proposed mapping guidance algorithm. |
| first_indexed | 2024-04-14T01:28:25Z |
| format | Article |
| id | doaj.art-a9bd6b9953f34024a4a74364246a13bc |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-14T01:28:25Z |
| publishDate | 2019-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-a9bd6b9953f34024a4a74364246a13bc2022-12-22T02:20:18ZengMDPI AGSensors1424-82202019-11-011922485410.3390/s19224854s19224854Indoor Mapping Guidance Algorithm of Rotary-Wing UAV Including Dead-End SituationsJongho Park0Jaehyun Yoo1Department of Military Digital Convergence, Ajou University, Suwon 16499, KoreaDepartment of Electrical, Electronic and Control Engineering, Hankyong National University, Anseoung 17579, KoreaA mapping guidance algorithm of a quadrotor for unknown indoor environments is proposed. A sensor with limited sensing range is assumed to be mounted on the quadrotor to obtain object data points. With obtained data, the quadrotor computes velocity vector and yaw commands to move around the object while maintaining a safe distance. The magnitude of the velocity vector is also controlled to prevent a collision. The distance transform method is applied to establish dead-end situation logic as well as exploration completion logic. When a dead-end situation occurs, the guidance algorithm of the quadrotor is switched to a particular maneuver. The proposed maneuver enables the quadrotor not only to escape from the dead-end situation, but also to find undiscovered area to continue mapping. Various numerical simulations are performed to verify the performance of the proposed mapping guidance algorithm.https://www.mdpi.com/1424-8220/19/22/4854unmanned aerial vehiclemappingindoor environmentguidance |
| spellingShingle | Jongho Park Jaehyun Yoo Indoor Mapping Guidance Algorithm of Rotary-Wing UAV Including Dead-End Situations Sensors unmanned aerial vehicle mapping indoor environment guidance |
| title | Indoor Mapping Guidance Algorithm of Rotary-Wing UAV Including Dead-End Situations |
| title_full | Indoor Mapping Guidance Algorithm of Rotary-Wing UAV Including Dead-End Situations |
| title_fullStr | Indoor Mapping Guidance Algorithm of Rotary-Wing UAV Including Dead-End Situations |
| title_full_unstemmed | Indoor Mapping Guidance Algorithm of Rotary-Wing UAV Including Dead-End Situations |
| title_short | Indoor Mapping Guidance Algorithm of Rotary-Wing UAV Including Dead-End Situations |
| title_sort | indoor mapping guidance algorithm of rotary wing uav including dead end situations |
| topic | unmanned aerial vehicle mapping indoor environment guidance |
| url | https://www.mdpi.com/1424-8220/19/22/4854 |
| work_keys_str_mv | AT jonghopark indoormappingguidancealgorithmofrotarywinguavincludingdeadendsituations AT jaehyunyoo indoormappingguidancealgorithmofrotarywinguavincludingdeadendsituations |