A Fully Autonomous Indoor Quadrotor

摘要: Recently, there has been increased interest in the development of autonomous flying vehicles. However, as most proposed approaches are suitable for outdoor operation, only a few techniques have designed indoor environments, where systems cannot rely on Global Positioning System (GPS) and, therefore, to use their exteroceptive sensors navigation. In this paper, we present general navigation system that enables small-sized quadrotor autonomously operate environments. To achieve this, systematically extend and adapt successfully applied ground robots. We describe all algorithms broad set experiments, which illustrate they enable robot reliably navigate