Autonomous Flight in Unstructured and Unknown Indoor Environments
Thesis with the same title and author is in DSpace. This is a conference paper.
| 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/1721.1/67487 https://orcid.org/0000-0002-8293-0492 |
| _version_ | 1811073302386442240 |
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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 | Thesis with the same title and author is in DSpace. This is a conference paper. |
| first_indexed | 2024-09-23T09:30:59Z |
| format | Article |
| id | mit-1721.1/67487 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T09:30:59Z |
| publishDate | 2011 |
| publisher | Multi Science Publishing |
| record_format | dspace |
| spelling | mit-1721.1/674872022-09-30T14:58:24Z Autonomous Flight in Unstructured and 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 Bachrach, Abraham Galton He, Ruijie Roy, Nicholas Thesis with the same title and author is in DSpace. This is a conference paper. 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. Micro Autonomous Consortium Systems and Technology Singapore. Armed Forces National Science Foundation (U.S.). Division of Information and Intelligent Systems (grant #0546467) 2011-12-09T17:25:03Z 2011-12-09T17:25:03Z 2010-01 Article http://purl.org/eprint/type/ConferencePaper 1756-8293 http://hdl.handle.net/1721.1/67487 Bachrach, Abraham, Ruijie He, and Nicholas Roy. “Autonomous Flight in Unknown Indoor Environments.” International Journal of Micro Air Vehicles 1 (2009): 217-228. Web. 9 Dec. 2011. https://orcid.org/0000-0002-8293-0492 en_US http://dx.doi.org/10.1260/175682909790291492 International Journal of Micro Air Vehicles Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Multi Science Publishing EMAV Organization |
| spellingShingle | Bachrach, Abraham Galton He, Ruijie Roy, Nicholas Autonomous Flight in Unstructured and Unknown Indoor Environments |
| title | Autonomous Flight in Unstructured and Unknown Indoor Environments |
| title_full | Autonomous Flight in Unstructured and Unknown Indoor Environments |
| title_fullStr | Autonomous Flight in Unstructured and Unknown Indoor Environments |
| title_full_unstemmed | Autonomous Flight in Unstructured and Unknown Indoor Environments |
| title_short | Autonomous Flight in Unstructured and Unknown Indoor Environments |
| title_sort | autonomous flight in unstructured and unknown indoor environments |
| url | http://hdl.handle.net/1721.1/67487 https://orcid.org/0000-0002-8293-0492 |
| work_keys_str_mv | AT bachrachabrahamgalton autonomousflightinunstructuredandunknownindoorenvironments AT heruijie autonomousflightinunstructuredandunknownindoorenvironments AT roynicholas autonomousflightinunstructuredandunknownindoorenvironments |