Document Type

Conference Paper

Publication Date

2013

Publication Title

2013 International Aerial Robotics Competition Symposium Grand Forks, North Dakota, U.S.A., and Beijing, PRC

Pages

1-12

Conference Name

2013 International Aerial Robotics Competition Symposium Grand Forks, North Dakota, U.S.A., and Beijing, PRC

Abstract

This paper describes the design implementation of a Quadrotor Unmanned Aerial Vehicle (UAV) with the capability of exploring indoor locations without the assistance of external aids. For relative position, the use of a laser range sensor, an optical flow sensor, and sonar sensor combined allows for the vehicle to generate mapping information. With relative position in mind, the vehicle uses vision algorithms to recognize immediate obstacles, sign, and entry ways to allow for quick movement responses and object recognition. A proportional-integral-differentiator controller allows for flight stability and mitigation in the tight confines of the indoor spaces. A mapping algorithm allows for the quick evacuation of the location without interacting with previously detected obstacles and walls. This vehicle is designed and intended for Old Dominion University's Unmanned Aerial Vehicle Team's entry for the 2013 International Aerial Robotics Competition.

Comments

Link to publisher landing page: http://aerialroboticscompetition.org/symposia.php

Rights

© 2013 International Aerial Robotics Competition

Included with the kind written permission of the copyright holder.

Original Publication Citation

Baily, J., Boyd, A., Chen, C.-H., Dailey, S., Henderson, L., Stuart, J., & Williams, C.(2013). Unmanned autonomous object retrieval: Old Dominion University 2013 International Aerial Robotics Competition entry [Paper presentation]. 2013 International Aerial Robotics Competition Symposium Grand Forks, North Dakota, U.S.A. and Beijing, PRC. http://aerialroboticscompetition.org/assets/downloads/2013SymposiumPapers/OldDominion.pdf

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