Autonomous Flight in Unknown Indoor Environments
http://multi-science.metapress.com/content/80586kml376k2711/
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Multi-Science Publishing
2011
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| Online Access: | http://hdl.handle.net/1721.1/66162 https://orcid.org/0000-0002-8293-0492 |
| _version_ | 1826210767725133824 |
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| author | Bachrach, Abraham Galton He, Ruijie Roy, Nicholas |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Bachrach, Abraham Galton He, Ruijie Roy, Nicholas |
| author_sort | Bachrach, Abraham Galton |
| collection | MIT |
| description | http://multi-science.metapress.com/content/80586kml376k2711/ |
| first_indexed | 2024-09-23T14:55:05Z |
| format | Article |
| id | mit-1721.1/66162 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T14:55:05Z |
| publishDate | 2011 |
| publisher | Multi-Science Publishing |
| record_format | dspace |
| spelling | mit-1721.1/661622022-10-01T23:19:19Z Autonomous Flight in Unknown Indoor Environments Bachrach, Abraham Galton He, Ruijie Roy, Nicholas Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Roy, Nicholas Roy, Nicholas Bachrach, Abraham Galton He, Ruijie http://multi-science.metapress.com/content/80586kml376k2711/ This paper presents our solution for enabling a quadrotor helicopter, equipped with a laser rangefinder sensor, to autonomously explore and map unstructured and unknown indoor environments. While these capabilities are already commodities on ground vehicles, air vehicles seeking the same performance face unique challenges. In this paper, we describe the difficulties in achieving fully autonomous helicopter flight, highlighting the differences between ground and helicopter robots that make it difficult to use algorithms that have been developed for ground robots. We then provide an overview of our solution to the key problems, including a multilevel sensing and control hierarchy, a high-speed laser scan-matching algorithm, an EKF for data fusion, a high-level SLAM implementation, and an exploration planner. Finally, we show experimental results demonstrating the helicopter's ability to navigate accurately and autonomously in unknown environments. National Science Foundation (U.S.) (NSF Division of Information and Intelligent Systems under grant # 0546467) United States. Army Research Office (ARO MAST CTA) Singapore. Armed Forces 2011-10-03T17:23:09Z 2011-10-03T17:23:09Z 2009-12 Article http://purl.org/eprint/type/JournalArticle 1756-8293 http://hdl.handle.net/1721.1/66162 Bachrach, Abraham, Ruijie He, and Nicholas Roy. “Autonomous Flight in Unknown Indoor Environments.” International Journal of Micro Air Vehicles 1 (2009): 217-228. DOI: 10.1260/175682909790291492 https://orcid.org/0000-0002-8293-0492 en_US http://dx.doi.org/10.1260/175682909790291492 International Journal of Micro Air Vehicles Creative Commons Attribution-Noncommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/ application/pdf Multi-Science Publishing MIT web domain |
| spellingShingle | Bachrach, Abraham Galton He, Ruijie Roy, Nicholas Autonomous Flight in Unknown Indoor Environments |
| title | Autonomous Flight in Unknown Indoor Environments |
| title_full | Autonomous Flight in Unknown Indoor Environments |
| title_fullStr | Autonomous Flight in Unknown Indoor Environments |
| title_full_unstemmed | Autonomous Flight in Unknown Indoor Environments |
| title_short | Autonomous Flight in Unknown Indoor Environments |
| title_sort | autonomous flight in unknown indoor environments |
| url | http://hdl.handle.net/1721.1/66162 https://orcid.org/0000-0002-8293-0492 |
| work_keys_str_mv | AT bachrachabrahamgalton autonomousflightinunknownindoorenvironments AT heruijie autonomousflightinunknownindoorenvironments AT roynicholas autonomousflightinunknownindoorenvironments |