We present an enhanced autonomous indoor navigation system for a stock quadcopter drone where all navigation commands are derived off-board on a base station. The base station processes the video stream transmitted from a forward-facing camera on the drone to determine the drone's physical disposition and trajectory in building hallways to derive steering commands that are sent to the drone. Off-board processing and the lack of on-board sensors for localizing the drone permits standard mid-range quadcopters to be used and conserves the limited power source on the quadcopter. We introduce improved and new techniques, compared to our prototype system [1], to maintain stable flights, estimate distance to hallway intersections and describe algorithms to stop the drone ahead of time and turn correctly at intersections.


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    Title :

    Autonomous indoor navigation of a stock quadcopter with off-board control


    Contributors:


    Publication date :

    2017-10-01


    Size :

    389219 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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