Georgia Tech Team Entry for the 2010 AUVSI International Aerial Robotics Competition

Abstract

This paper describes the details of a Quadrotor Unmanned Aerial Vehicle capable of exploring cluttered indoor areas without relying on any external navigational aids. An elaborate Simultaneous Localization and Mapping (SLAM) algorithm is used to fuse information from a laser range sensor, an inertial measurement unit, and an altitude sonar to provide relative position, velocity, and attitude information. A wall-following guidance rule is implemented to ensure that the vehicle explores maximum indoor area in a reasonable amount of time. A model reference adaptive control architecture is used to ensure stability and mitigation of uncertainties. The vehicle is intended to be Georgia Tech Aerial Robotic Team's entry for the 2010 International Aerial Robotics Competition.

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Document Details

Document Type
Technical Report
Publication Date
Aug 12, 2010
Accession Number
ADA592684

Entities

People

  • Allen Wu
  • Chester Ong
  • Chintasiddhi Pravitra
  • Claus Christmann
  • D. M. Sobers Jr.
  • Eric N. Johnson
  • Girish Chowdhary
  • Hiroyuki Hashimoto
  • Roshan Kalghatgi

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Sensors
  • Space

DTIC Thesaurus Topics

  • Air Force
  • Aircrafts
  • Airframes
  • Collision Avoidance
  • Control Systems
  • Global Positioning Systems
  • Guidance
  • Inertial Measurement Units
  • Kalman Filters
  • Local Area Networks
  • Navigation
  • Range Finders
  • Research Facilities
  • Simultaneous Localization And Mapping
  • Unmanned Aerial Systems
  • Unmanned Aerial Vehicles
  • Unmanned Systems

Readers

  • Distributed Systems and Data Platform Development
  • Environmental Impact Assessment (EIA) of Proposed Air Force Base Actions.
  • Inertial Navigation Systems.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy
  • Directed Energy