AHS presents the Paper of the Month!
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The July Paper of the Month is "Development of a 500 gram Vision-based Autonomous Quadrotor Vehicle Capable of Indoor Navigation," by Stephen Haviland, Dmitry Bershadsky, Daniel Magree and Eric Johnson, Georgia Institute of Technology. This paper was selected as the best paper of the Unmanned VTOL Aircraft & Rotorcraft session at Forum 71 (May 2015). Download it today and see why!
ABSTRACT
This paper presents the work and related research done in preparation for the American Helicopter Society (AHS) Micro Aerial Vehicle (MAV) Student Challenge. The described MAV operates without human interaction in search of a ground target in an open indoor environment. The Georgia Tech Quadrotor-Mini (GTQ-Mini) weighs under 500 grams and was specifically sized to carry a high processing computer. The system platform also consists of a monocular camera, sonar, and an inertial measurement unit (IMU). All pro- cessing is done onboard the vehicle using a lightweight powerful computer. A vision navigation system generates vehicle state data and image feature estimates in a vision SLAM formation using a Bierman Thornton extended Kalman Filter (BTEKF). Simulation and flight tests have been performed to show and validate the systems performance.
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