Accession Number:

ADA592684

Title:

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

Descriptive Note:

Conference paper

Corporate Author:

NAVAL POSTGRADUATE SCHOOL MONTEREY CA CONSORTIUM FOR ROBOTICS AND UNMANNED SYSTEMS EDUCATION AND RESEARCH

Report Date:

2010-08-12

Pagination or Media Count:

13.0

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 Teams entry for the 2010 International Aerial Robotics Competition.

Subject Categories:

  • Pilotless Aircraft

Distribution Statement:

APPROVED FOR PUBLIC RELEASE