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Efficient Estimation For Small Multi-Rotor Air Vehicles Operating In Unknown, Indoor Environments, John Charles Macdonald

Theses and Dissertations

In this dissertation we present advances in developing an autonomous air vehicle capable of navigating through unknown, indoor environments. The problem imposes stringent limits on the computational power available onboard the vehicle, but the environment necessitates using 3D sensors such as stereo or RGB-D cameras whose data requires significant processing. We address the problem by proposing and developing key elements of a relative navigation scheme that moves as many processing tasks as possible out of the time-critical functions needed to maintain flight. We present in Chapter 2 analysis and results for an improved multirotor helicopter state estimator. The filter generates …