One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a-priori knowledge of the operating environment. This challenge is addressed in the present paper. We describe the system design and software architecture of our proposed solution, and showcase how all the distinct components can be integrated to enable smooth robot operation. We provide critical insight on hardware and software component selection and development, and present results from extensive experimental testing in real-world warehouse environments. Experimental testing reveals that our proposed solution can deliver fast and robust aerial robot autonomous navigation in cluttered, GPS-denied environments.
@article{arxiv.1712.02052,
title = {Fast, Autonomous Flight in GPS-Denied and Cluttered Environments},
author = {Kartik Mohta and Michael Watterson and Yash Mulgaonkar and Sikang Liu and Chao Qu and Anurag Makineni and Kelsey Saulnier and Ke Sun and Alex Zhu and Jeffrey Delmerico and Konstantinos Karydis and Nikolay Atanasov and Giuseppe Loianno and Davide Scaramuzza and Kostas Daniilidis and Camillo Jose Taylor and Vijay Kumar},
journal= {arXiv preprint arXiv:1712.02052},
year = {2017}
}
Comments
Pre-peer reviewed version of the article accepted in Journal of Field Robotics