A Primer on Autonomous Aerial Vehicle Design

Sensors

Hugo H. G. Coppejans²  Herman C. Myburgh¹ 

[1] Department of Electrical, Electronic and Computer Engineering, University of Pretoria, Pretoria 0002, South Africa

关键词: autonomous;    quadcopter;    MAV;    SLAM;    data processing;    compression;    Microsoft Kinect;    stereo cameras;    LiDAR;   

DOI  :  10.3390/s151229785

来源: mdpi

【 摘 要 】

There is a large amount of research currently being done on autonomous micro-aerial vehicles (MAV), such as quadrotor helicopters or quadcopters. The ability to create a working autonomous MAV depends mainly on integrating a simultaneous localization and mapping (SLAM) solution with the rest of the system. This paper provides an introduction for creating an autonomous MAV for enclosed environments, aimed at students and professionals alike. The standard autonomous system and MAV automation are discussed, while we focus on the core concepts of SLAM systems and trajectory planning algorithms. The advantages and disadvantages of using remote processing are evaluated, and recommendations are made regarding the viability of on-board processing. Recommendations are made regarding best practices to serve as a guideline for aspirant MAV designers.

【 授权许可】

CC BY   
© 2015 by the authors; licensee MDPI, Basel, Switzerland.