This paper describes an inertial navigation and vanishing point methodology that has been implemented using artificially placed landmarks and the sensors on board a quadrotor for autonomous navigation in a Global-Positioning-System-denied known, indoor environment. The drift in yaw was regulated using a downward-facing camera, and landmarks were placed at strategic locations. The heading was determined by the vanishing point in the image sensed by the forward-facing camera, which also helped to reduce the number of landmarks necessary for autonomous flight. The results presented in this paper suggest that the data from onboard inertial measurement units, combined with the localization method described in this paper, are sufficient to achieve autonomous indoor navigation.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Autonomous Navigation and Localization of a Quadrotor in an Indoor Environment


    Contributors:

    Published in:

    Publication date :

    2015-07-23


    Size :

    11 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    A Convolutional Neural Network Vision System Approach to Indoor Autonomous Quadrotor Navigation

    Garcia, Adriano / Mittal, Sandeep S. / Kiewra, Edward et al. | IEEE | 2019


    Autonomous Navigation of a Quadrotor in Indoor Environments for Surveillance and Reconnaissance

    Bhandari, Subodh / Viska, Steven / Shah, Harsh et al. | AIAA | 2015


    Optimal autonomous quadrotor navigation in an obstructed space

    Giulietti, Fabrizio / Pipeleers, Goele / Rossetti, Gianluca et al. | IEEE | 2017


    Quadrotor UAV Indoor Localization Using Embedded Stereo Camera

    Azrad, Syaril ;Fadhil, Mohammad ;Kendoul, Farid | Trans Tech Publications | 2014


    Quadrotor UAV Indoor Localization Using Embedded Stereo Camera

    Azrad, S. / Fadhil, M. / Kendoul, F. et al. | British Library Conference Proceedings | 2014