Indoor Path Planning and Navigation Of Quadrotors
Date Issued
June 2021
Author(s)
Advisor
Abstract
In this thesis we study the problem of indoor quadrotor navigation. Specifically we focus on
the design of an optimal controller, and an optimal state estimator. We then provide a working
example of an autonomous quadrotor navigating through a static environment. The implemented
controller is a Linear Quadratic Regulator (LQR) augmented in such a way to solve the Servo-
Problem. The state estimation is achieved by coalescing via a Kalman Filter, the measurements
from an Inertial Measurement Unit (IMU), an Ultra-WideBand localization system, and a monocular
camera-based object detection algorithm. To the best of the author’s knowledge, this is the
first work that combines these three technologies for an onboard real-time implementation of
a localization mechanism. The implementation is achieved with a Hardware-in-the-loop (HIL)
simulation technique, where the dynamic model of the quadrotor is simulated in an open-source
3D robotics simulator, and the navigation system is implemented on an Artificial Intelligence
embedded computer. Our results show that the camera-based solution is a viable option capable
of further improving the performance of the purely UWB approach.
the design of an optimal controller, and an optimal state estimator. We then provide a working
example of an autonomous quadrotor navigating through a static environment. The implemented
controller is a Linear Quadratic Regulator (LQR) augmented in such a way to solve the Servo-
Problem. The state estimation is achieved by coalescing via a Kalman Filter, the measurements
from an Inertial Measurement Unit (IMU), an Ultra-WideBand localization system, and a monocular
camera-based object detection algorithm. To the best of the author’s knowledge, this is the
first work that combines these three technologies for an onboard real-time implementation of
a localization mechanism. The implementation is achieved with a Hardware-in-the-loop (HIL)
simulation technique, where the dynamic model of the quadrotor is simulated in an open-source
3D robotics simulator, and the navigation system is implemented on an Artificial Intelligence
embedded computer. Our results show that the camera-based solution is a viable option capable
of further improving the performance of the purely UWB approach.
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Loizos Chatziloizou - ABSTRACT.pdf
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