THRONE Team Entry for the 2013 AUVSI International Aerial Robotics Competition
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چکیده
This paper describes the technical details of a quadrotor system capable of exploring unstructured indoor environment, detecting and replacing a specific USB flash disk, without relying on any external navigation aids. A Gmapping Simultaneous Localization and Mapping (SLAM) algorithm fused with various onboard sensor data is used to provide relative position, velocity and altitude of the vehicle. Two visible light cameras are mounted on the vehicle, the frontward one is used to detect the target room, and the downward one is responsible for USB disk identification with a simple manipulator to replace it. Two alternative path planning methods are introduced to help the vehicle implementing obstacle avoidance. Moreover, we design elaborate control architecture to ensure the stability and mitigation of vehicle uncertainties. This quadrotor is designed to be Tsinghua Aerial Robotic Team’s entry for the 2013 International Aerial Robotics Competition.
منابع مشابه
North Carolina State University Aerial Robotics Club 2007 AUVSI Student UAS Competition Journal Paper Entry June 1 , 2007 by Matthew Hazard ( NCSU ’ 08 ) with thanks to
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تاریخ انتشار 2013