YouTube home Register to vote
Upload

Loading...

Autonomous Aerial Navigation in Confined Indoor Environments

93,811 views

Loading...

Loading...

Transcript

The interactive transcript could not be loaded.

Loading...

Loading...

Rating is available when the video has been rented.
This feature is not available right now. Please try again later.
Uploaded on Nov 16, 2010

This video presents experimental results of autonomous navigation in confined indoor environments using an aerial robot.

The robot is equipped with an IMU, camera, and laser scanner with deflective mirrors. All computations are performed onboard using a 1.6GHz atom processor. The robot is able to navigate autonomously in indoor or outdoor, GPS-denied environments.

A SLAM module with vision based loop closure allows the robot to map large-scale, multi-floor environments.

A sparse 3D map is generated on the robot based on sensor data, enabling high-level planning and visualization.

An RRT* based planner provides an anytime planning solution that fits the computational constraints of the robot. This planner also enables online re-planning and obstacle avoidance.

An LQR optimal controller with external force compensation enables reliable autonomous flight in highly constrained environments, such as hallways, doors, and windows. The robot is able to track the high-level plans accurately.

Loading...

When autoplay is enabled, a suggested video will automatically play next.

Up next


to add this to Watch Later

Add to

Loading playlists...