A Novel Navigation Algorithm for Mapping Indoor Environments with a Quadrotor

Authors : Omer ORAL, Ali Emre TURGUT, Kutluk Bilge ARİKAN

Pages : 0-0

Doi:10.17350/HJSE19030000181

View : 17 | Download : 2

Publication Date : 2020-06-26

Article Type : Research Paper

Abstract :I n the last decade, unmanned aerial vehicle gained popularity and started to be used in different tasks most of which are performed in outdoor environments. Still, there is a great potential to use quadrotors in indoor tasks such as urban relief and disaster operations. In this paper, we developed a framework and a novel target-based navigation algorithm for mapping of an unknown 2D environment with a quadrotor using an ultrawideband system. The target-based navigation algorithm aims to explore map of the environment by moving the border between the discovered and undiscovered areas. It uses A* search algorithm for path planning if there is an obstacle present in the environment. The target-based navigation algorithm is implemented on Gazebo simulator and its performance is compared with the well-known wall following algorithm and exploration algorithm in terms of task completion time and distance travelled. The target-based navigation algorithm outperforms the other two algorithms especially in environments with obstacles
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