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Sensors 2015, 15(12), 30033-30061; doi:10.3390/s151229785

A Primer on Autonomous Aerial Vehicle Design

Department of Electrical, Electronic and Computer Engineering, University of Pretoria, Pretoria 0002, South Africa
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Author to whom correspondence should be addressed.
Academic Editor: Vittorio M. N. Passaro
Received: 14 July 2015 / Revised: 5 November 2015 / Accepted: 6 November 2015 / Published: 2 December 2015
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [6945 KB, uploaded 2 December 2015]   |  

Abstract

There is a large amount of research currently being done on autonomous micro-aerial vehicles (MAV), such as quadrotor helicopters or quadcopters. The ability to create a working autonomous MAV depends mainly on integrating a simultaneous localization and mapping (SLAM) solution with the rest of the system. This paper provides an introduction for creating an autonomous MAV for enclosed environments, aimed at students and professionals alike. The standard autonomous system and MAV automation are discussed, while we focus on the core concepts of SLAM systems and trajectory planning algorithms. The advantages and disadvantages of using remote processing are evaluated, and recommendations are made regarding the viability of on-board processing. Recommendations are made regarding best practices to serve as a guideline for aspirant MAV designers. View Full-Text
Keywords: autonomous; quadcopter; MAV; SLAM; data processing; compression; Microsoft Kinect; stereo cameras; LiDAR autonomous; quadcopter; MAV; SLAM; data processing; compression; Microsoft Kinect; stereo cameras; LiDAR
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Coppejans, H.H.G.; Myburgh, H.C. A Primer on Autonomous Aerial Vehicle Design. Sensors 2015, 15, 30033-30061.

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