Simplistic Sonar based SLAM for low-cost Unmanned Aerial Quadrocopter systems

GPS-denied environments pose a significant problem for unmanned aerial vehicles, or UAVs, operating autonomously within a confined airspace. In this paper, we outline and implement a basic algorithm to autonomously fly a quadcopter using low-cost sonar sensors in a GPS-denied environment. Furthermore, we outline a method for using simple sonar distance data to map our environment. Through the use of these sonar sensors and simplistic mapping methods, we build the foundation for a SLAM-based approach to operating indoors using a lowbudget system.