A Novel Navigation Algorithm for Mapping Indoor Environments with a Quadrotor

2020-06-01
Oral, Omer
Turgut, Ali Emre
Arıkan, Kutluk Bilge
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

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, vol. 7, no. 2, pp. 125–134, 2020, Accessed: 00, 2021. [Online]. Available: https://www.hjse.hitit.edu.tr/hjse/index.php/HJSE/article/view/469.