Integrated Guidance Navigation and Control for a Fully Autonomous Indoor UAS
Sobers, D. Michael, Jr.
Christmann, Hans Claus
Johnson, Eric N.
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This paper describes the details of a Quadrotor miniature unmanned aerial system capable of autonomously exploring cluttered indoor areas without relying on any external navigational aids such as GPS. A streamlined Simultaneous Localization and Mapping (SLAM) algorithm is implemented onboard the vehicle to fuse information from a scanning laser range sensor, an inertial measurement unit, and an altitude sonar to provide relative position, velocity, and attitude information. This state information, with a self-generated map, is used to implement a frontier-based exhaustive search of an indoor environment. To ensure the SLAM algorithm has sufficient information to form a reliable solution, the guidance algorithm ensures the vehicle approaches frontier waypoints through a path that remains within sensor range of indoor structures. Along with a detailed description of the system, simulation and hardware testing results are presented.