Autonomous navigation and localization of a quadrotor mini-uav by landmarks in indoor environments

Autonomous navigation;Localization;Landmarks;Indoor;Quadrotor

Ahn, Young Min ; Sreenivas ; Ramavarapu S.

关键词: Autonomous navigation;    Localization;    Landmarks;    Indoor;    Quadrotor;   

Others  :  https://www.ideals.illinois.edu/bitstream/handle/2142/24391/Ahn_YoungMin.pdf?sequence=8&isAllowed=y

美国|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

In this thesis, the problems of control, autonomous navigation, and localization in an indoor environment are considered for mini-UAV quadrotor. A commonly used localization methods such as GPS sensors or radar are strongly limited due to lack of signals in indoor. This thesis will present autonomous navigation by using vanishing point and inertial navigation methods. And indoor localization by using artificial landmarks in a known environment by utilizing vertical and horizontal cameras onboard of the quadrotor is proposed. The local data from the inertial measurement units onboard are combined with the proposed localization method.