Georgia Tech Team Entry for the 2012 AUVSI International Aerial Robotics Competition
Johnson, Eric N.
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This paper describes the details of a Quadrotor Unmanned Aerial Vehicle capable of exploring cluttered indoor areas without relying on any external navigational aids. A 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 avoidance and guidance system is implemented to ensure that the vehicle explores maximum indoor area. A model reference adaptive control architecture is used to ensure stability and mitigation of uncertainties. Finally, an object detection system is implemented to identify target objects for retrieval.