TY - GEN
T1 - Autonomous indoor navigation of a stock quadcopter with off-board control
AU - Garcia, Adriano
AU - Ghose, Kanad
N1 - Publisher Copyright: © 2017 IEEE.
PY - 2017/11/8
Y1 - 2017/11/8
N2 - We present an enhanced autonomous indoor navigation system for a stock quadcopter drone where all navigation commands are derived off-board on a base station. The base station processes the video stream transmitted from a forward-facing camera on the drone to determine the drone's physical disposition and trajectory in building hallways to derive steering commands that are sent to the drone. Off-board processing and the lack of on-board sensors for localizing the drone permits standard mid-range quadcopters to be used and conserves the limited power source on the quadcopter. We introduce improved and new techniques, compared to our prototype system [1], to maintain stable flights, estimate distance to hallway intersections and describe algorithms to stop the drone ahead of time and turn correctly at intersections.
AB - We present an enhanced autonomous indoor navigation system for a stock quadcopter drone where all navigation commands are derived off-board on a base station. The base station processes the video stream transmitted from a forward-facing camera on the drone to determine the drone's physical disposition and trajectory in building hallways to derive steering commands that are sent to the drone. Off-board processing and the lack of on-board sensors for localizing the drone permits standard mid-range quadcopters to be used and conserves the limited power source on the quadcopter. We introduce improved and new techniques, compared to our prototype system [1], to maintain stable flights, estimate distance to hallway intersections and describe algorithms to stop the drone ahead of time and turn correctly at intersections.
UR - https://www.scopus.com/pages/publications/85047604540
U2 - 10.1109/RED-UAS.2017.8101656
DO - 10.1109/RED-UAS.2017.8101656
M3 - Conference contribution
T3 - 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2017
SP - 132
EP - 137
BT - 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 Workshop on Research, Education and Development of Unmanned Aerial Systems, RED-UAS 2017
Y2 - 3 October 2017 through 5 October 2017
ER -