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    Georgia Tech Team Entry for the 2011 AUVSI International Aerial Robotics Competition

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    IARC2011GT.pdf (942.6Kb)
    Date
    2011-08
    Author
    Chowdhary, Girish
    Magree, Daniel
    Bershadsky, Dmitry
    Dyer, Timothy
    George, Eohan
    Hashimoto, Hiroyuki
    Kalghatgi, Roshan
    Johnson, Eric N.
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    Abstract
    his 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 2011 International Aerial Robotics Competition (IARC) Symposium on Indoor Flight Issues.
    URI
    http://hdl.handle.net/1853/53347
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    • Unmanned Aerial Vehicle (UAV) [118]
    • Unmanned Aerial Vehicle (UAV) Publications [104]

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