A Novel Navigation Algorithm for Mapping Indoor Environments with a Quadrotor

2020-06-01
Oral, Omer
Turgut, Ali Emre
Arıkan, Kutluk Bilge
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In the last decade, unmanned aerial vehicle gained popularity and started to be used in different tasks most of which are performed in outdoor environments. Still, there is a great potential to use quadrotors in indoor tasks such as urban relief and disaster operations. In this paper, we developed a framework and a novel target-based navigation algorithm for mapping of an unknown 2D environment with a quadrotor using an ultrawideband system. The target-based navigation algorithm aims to explore map of the environment by moving the border between the discovered and undiscovered areas. It uses A* search algorithm for path planning if there is an obstacle present in the environment. The target-based navigation algorithm is implemented on Gazebo simulator and its performance is compared with the well-known wall following algorithm and exploration algorithm in terms of task completion time and distance travelled. The target-based navigation algorithm outperforms the other two algorithms especially in environments with obstacles
LIDAR, SLAM, Mapping, Trilateration technique, Quadrotor, UAV, Indoor, Obstacle avoida
https://www.hjse.hitit.edu.tr/hjse/index.php/HJSE/article/view/469
https://hdl.handle.net/11511/74630
Hittite Journal of Science Engineering
Department of Mechanical Engineering, Article

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Citation Formats
O. Oral, A. E. Turgut, and K. B. Arıkan, “A Novel Navigation Algorithm for Mapping Indoor Environments with a Quadrotor,” Hittite Journal of Science Engineering, pp. 125–134, 2020, Accessed: 00, 2021. [Online]. Available: https://www.hjse.hitit.edu.tr/hjse/index.php/HJSE/article/view/469.
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