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Open AccessArticle

Indoor Mapping Guidance Algorithm of Rotary-Wing UAV Including Dead-End Situations

by 1 and 2,*
Department of Military Digital Convergence, Ajou University, Suwon 16499, Korea
Department of Electrical, Electronic and Control Engineering, Hankyong National University, Anseoung 17579, Korea
Author to whom correspondence should be addressed.
Sensors 2019, 19(22), 4854;
Received: 29 August 2019 / Revised: 15 October 2019 / Accepted: 5 November 2019 / Published: 7 November 2019
(This article belongs to the Special Issue UAV-based 3D Mapping)
A mapping guidance algorithm of a quadrotor for unknown indoor environments is proposed. A sensor with limited sensing range is assumed to be mounted on the quadrotor to obtain object data points. With obtained data, the quadrotor computes velocity vector and yaw commands to move around the object while maintaining a safe distance. The magnitude of the velocity vector is also controlled to prevent a collision. The distance transform method is applied to establish dead-end situation logic as well as exploration completion logic. When a dead-end situation occurs, the guidance algorithm of the quadrotor is switched to a particular maneuver. The proposed maneuver enables the quadrotor not only to escape from the dead-end situation, but also to find undiscovered area to continue mapping. Various numerical simulations are performed to verify the performance of the proposed mapping guidance algorithm. View Full-Text
Keywords: unmanned aerial vehicle; mapping; indoor environment; guidance unmanned aerial vehicle; mapping; indoor environment; guidance
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Park, J.; Yoo, J. Indoor Mapping Guidance Algorithm of Rotary-Wing UAV Including Dead-End Situations. Sensors 2019, 19, 4854.

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