Indoor Autonomous Navigation Technology Research Based on Lidar for Quad-Copter Aerial Robot

Zhi Jun Bai; Yang Feng Ji; Liao Ni Wu; Qi Lin

doi:10.4028/www.scientific.net/AMM.538.371

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 538Indoor Autonomous Navigation Technology Research...

Indoor Autonomous Navigation Technology Research Based on Lidar for Quad-Copter Aerial Robot

Abstract:

An indoor autonomous navigation system without GPS has been developed, based on the platform of quad-copter, which may fulfill the task of searching, identifying and entering the target room in a building with multi-rooms corridor. A pose sensor was utilized to stabilize the aircraft. The SLAM (Simultaneous Localization and Mapping) and plan route in unknown environment have been created by a 2D lidar. A calibrated monocular camera has been used to recognize different marks to make sure the vehicle to enter the target room. The test result showed that the indoor autonomous navigation technology based on lidar for quad-copter aerial robot is feasible and successful.

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Periodical:

Applied Mechanics and Materials (Volume 538)

Pages:

371-374

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.538.371

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Online since:

April 2014

Authors:

Zhi Jun Bai*, Yang Feng Ji, Liao Ni Wu, Qi Lin

Keywords:

Indoor Navigation, Obstacle Autonomous Avoidance, Quad-Copter, Target Identification

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* - Corresponding Author

References

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