The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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3-D Indoor Navigation and Autonomous Flight of a Micro Aerial Vehicle using a Low-cost LIDAR

저가형 LIDAR를 장착한 소형 무인항공기의 3차원 실내 항법 및 자동비행

  • Huh, Sungsik (Dept. of Aerospace Engineering, Korea Advanced Institute of Science and Technology) ;
  • Cho, Sungwook (Dept. of Aerospace Engineering, Korea Advanced Institute of Science and Technology) ;
  • Shim, David Hyunchul (Dept. of Aerospace Engineering, Korea Advanced Institute of Science and Technology)
  • Received : 2014.07.17
  • Accepted : 2014.08.08
  • Published : 2014.08.28
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Abstract

The Global Positioning System (GPS) is widely used to aid the navigation of aerial vehicles. However, the GPS cannot be used indoors, so alternative navigation methods are needed to be developed for micro aerial vehicles (MAVs) flying in GPS-denied environments. In this paper, a real-time three-dimensional (3-D) indoor navigation system and closed-loop control of a quad-rotor aerial vehicle equipped with an inertial measurement unit (IMU) and a low-cost light detection and ranging (LIDAR) is presented. In order to estimate the pose of the vehicle equipped with the two-dimensional LIDAR, an octree-based grid map and Monte-Carlo Localization (MCL) are adopted. The navigation results using the MCL are then evaluated by making a comparison with a motion capture system. Finally, the results are used for closed-loop control in order to validate its positioning accuracy during procedures for stable hovering and waypoint-following.

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References

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