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© 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.

Abstract

A mapping guidance algorithm of a quadrotor for unknown indoor environments is proposed. A sensor with limited sensing range is assumed to be mounted on the quadrotor to obtain object data points. With obtained data, the quadrotor computes velocity vector and yaw commands to move around the object while maintaining a safe distance. The magnitude of the velocity vector is also controlled to prevent a collision. The distance transform method is applied to establish dead-end situation logic as well as exploration completion logic. When a dead-end situation occurs, the guidance algorithm of the quadrotor is switched to a particular maneuver. The proposed maneuver enables the quadrotor not only to escape from the dead-end situation, but also to find undiscovered area to continue mapping. Various numerical simulations are performed to verify the performance of the proposed mapping guidance algorithm.

Details

Title
Indoor Mapping Guidance Algorithm of Rotary-Wing UAV Including Dead-End Situations
Author
Park, Jongho 1   VIAFID ORCID Logo  ; Yoo, Jaehyun 2 

 Department of Military Digital Convergence, Ajou University, Suwon 16499, Korea; [email protected] 
 Department of Electrical, Electronic and Control Engineering, Hankyong National University, Anseoung 17579, Korea 
First page
4854
Publication year
2019
Publication date
2019
Publisher
MDPI AG
e-ISSN
14248220
Source type
Scholarly Journal
Language of publication
English
ProQuest document ID
2535414836
Copyright
© 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.