Navigation, Guidance, Control and Dynamics Commons^™

Reliable Navigation For Suas In Complex Indoor Environments, Andrew J. Fabian

Theses and Dissertations

Indoor environments are a particular challenge for Unmanned Aerial Vehicles (UAVs). Effective navigation through these GPS-denied environments require alternative localization systems, as well as methods of sensing and avoiding obstacles while remaining on-task. Additionally, the relatively small clearances and human presence characteristic of indoor spaces necessitates a higher level of precision and adaptability than is common in traditional UAV flight planning and execution. This research blends the optimization of individual technologies, such as state estimation and environmental sensing, with system integration and high-level operational planning.

The combination of AprilTag visual markers, multi-camera Visual Odometry, and IMU data can be used …

Cooperative 3-D Map Generation Using Multiple Uavs, Andrew Erik Lawson

University Scholar Projects

This report aims to demonstrate the feasibility of building a global 3-D map from multiple UAV robots in a GPS-denied, indoor environment. Presented are the design of each robot and the reasoning behind choosing its hardware and software components, the process in which a single robot obtains a individual 3-D map entirely onboard, and lastly how the mapping concept is extended to multiple robotic agents to form a global 3-D map using a centralized server. In the latter section, this report focuses on two algorithms, Online Mapping and Map Fusion, developed to facilitate the cooperative approach. A limited selection …