论文信息 - Autonomous Navigation of a Quadrotor in Indoor Environments for Surveillance and Reconnaissance

Autonomous Navigation of a Quadrotor in Indoor Environments for Surveillance and Reconnaissance

This paper presents the research on the development of an autonomous quadrotor with the ability to navigate indoor environments and simultaneously map them. The system utilizes Simultaneous Localization and Mapping (SLAM) as its mapping technique by using a 3-Dimensional camera. The program utilized with the camera is SCENECT, open source software based on the laser scan software SCENE by FARO. A 3-D depth map is constructed by the infrared monochrome camera’s reception of reflected infrared signals that are produced by the infrared projector. Chromatic and 3-D depth images are obtained simultaneously with the object’s features by using the RGB camera. Ultrasonic rangefinders are implemented into the system for obstacle detection.

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