Micro aerial vehicles (MAVs) have high potential for information gathering tasks to support situation awareness in search and rescue scenarios. Manually controlling MAVs in such scenarios requires experienced pilots and is error-prone, especially in stressful situations of real emergencies. The conditions of disaster scenarios are also challenging for autonomous MAV systems. The environment is usually not known in advance and GNSS might not always be available. We present a system for autonomous MAV flights in unknown environments which does not rely on global positioning systems. The method is evaluated in multiple search and rescue scenarios and allows for safe autonomous flights, even when transitioning between indoor and outdoor areas.
Autonomous Flight in Unknown GNSS-denied Environments for Disaster Examination
2021-06-15
4849614 byte
Conference paper
Electronic Resource
English
Autonomous Flight in Unknown GNSS-denied Environments for Disaster Examination
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