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Indoor Mapping Guidance Algorithm of Rotary-Wing UAV Including Dead-End Situations

Authors
  • Park, Jongho
  • Yoo, Jaehyun1
  • 1 Department of Electrical, Electronic and Control Engineering, Hankyong National University, Anseoung 17579, Korea
Type
Published Article
Journal
Sensors
Publisher
MDPI AG
Publication Date
Nov 07, 2019
Volume
19
Issue
22
Identifiers
DOI: 10.3390/s19224854
PMID: 31703429
PMCID: PMC6891310
Source
PubMed Central
Keywords
License
Green

Abstract

A mapping guidance algorithm of a quadrotor for unknown indoor environments is proposed. A sensor with limited sensing range is assumed to be mounted on the quadrotor to obtain object data points. With obtained data, the quadrotor computes velocity vector and yaw commands to move around the object while maintaining a safe distance. The magnitude of the velocity vector is also controlled to prevent a collision. The distance transform method is applied to establish dead-end situation logic as well as exploration completion logic. When a dead-end situation occurs, the guidance algorithm of the quadrotor is switched to a particular maneuver. The proposed maneuver enables the quadrotor not only to escape from the dead-end situation, but also to find undiscovered area to continue mapping. Various numerical simulations are performed to verify the performance of the proposed mapping guidance algorithm.

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