A compact exploration strategy for indoor flight vehicles

Chintasid Pravitra; Girish Chowdhary; Eric Johnson

doi:10.1109/CDC.2011.6161200

A compact exploration strategy for indoor flight vehicles

Chintasid Pravitra, Girish Chowdhary, Eric Johnson

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper presents a compact exploration strategy designed to be implemented onboard indoor Miniature Air Vehicles (MAVs) operating in cluttered and confined environments. The exploration strategy uses 2D range information from a laser range scanner to generate velocity commands by blending a Sensor-based Random Tree frontier planner with a wall-following velocity field generator. The combined approach leverages the efficient exploration capabilities of frontier-based guidance and ensures that the vehicles follows a path that is free of obstacles and conducive to maintaining good scan geometry through a wall-following approach. The strategy has been successfully implemented and tested on a Quadrotor MAV and simulation results are presented. Flight test results shall be included in the final version.

Original language	English (US)
Title of host publication	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3572-3577
Number of pages	6
ISBN (Print)	9781612848006
DOIs	https://doi.org/10.1109/CDC.2011.6161200
State	Published - 2011
Externally published	Yes
Event	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 - Orlando, FL, United States Duration: Dec 12 2011 → Dec 15 2011

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011
Country/Territory	United States
City	Orlando, FL
Period	12/12/11 → 12/15/11

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Online availability

10.1109/CDC.2011.6161200

Library availability

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Pravitra, C., Chowdhary, G., & Johnson, E. (2011). A compact exploration strategy for indoor flight vehicles. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011 (pp. 3572-3577). Article 6161200 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2011.6161200

A compact exploration strategy for indoor flight vehicles. / Pravitra, Chintasid; Chowdhary, Girish; Johnson, Eric.
2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. Institute of Electrical and Electronics Engineers Inc., 2011. p. 3572-3577 6161200 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Pravitra, C, Chowdhary, G & Johnson, E 2011, A compact exploration strategy for indoor flight vehicles. in 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011., 6161200, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 3572-3577, 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011, Orlando, FL, United States, 12/12/11. https://doi.org/10.1109/CDC.2011.6161200

Pravitra C, Chowdhary G, Johnson E. A compact exploration strategy for indoor flight vehicles. In 2011 50th IEEE Conference on Decision and Control and European Control Conference, CDC-ECC 2011. Institute of Electrical and Electronics Engineers Inc. 2011. p. 3572-3577. 6161200. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2011.6161200

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A compact exploration strategy for indoor flight vehicles

Abstract

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ASJC Scopus subject areas

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