Fast, autonomous flight in GPS‐denied and cluttered environments

One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a priori knowledge of the operating environment. This challenge is addressed in the present paper. We describe th...

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Bibliographic Details
Published in:Journal of field robotics 2018-01, Vol.35 (1), p.101-120
Main Authors: Mohta, Kartik, Watterson, Michael, Mulgaonkar, Yash, Liu, Sikang, Qu, Chao, Makineni, Anurag, Saulnier, Kelsey, Sun, Ke, Zhu, Alex, Delmerico, Jeffrey, Karydis, Konstantinos, Atanasov, Nikolay, Loianno, Giuseppe, Scaramuzza, Davide, Daniilidis, Kostas, Taylor, Camillo Jose, Kumar, Vijay
Format: Article
Language:English
Subjects:
aerial robotics
Autonomous navigation
collision avoidance
field robots
Flight
Global positioning systems
GPS
localization
mapping
motion and path planning
motion control
Navigation
Robots
Robustness (mathematics)
Satellite navigation systems
sensor fusion
Systems design
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Summary:One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a priori knowledge of the operating environment. This challenge is addressed in the present paper. We describe the system design and software architecture of our proposed solution and showcase how all the distinct components can be integrated to enable smooth robot operation. We provide critical insight on hardware and software component selection and development and present results from extensive experimental testing in real‐world warehouse environments. Experimental testing reveals that our proposed solution can deliver fast and robust aerial robot autonomous navigation in cluttered, GPS‐denied environments.
ISSN:1556-4959
1556-4967
DOI:10.1002/rob.21774