Autonomous Door and Corridor Traversal with a 20-Gram Flapping Wing MAV by Onboard Stereo Vision
Micro Air Vehicle Lab, Faculty of Aerospace Engineering, Delft University of Technology, Kluyverweg 1, 2629HS Delft, The Netherlands
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Aerospace 2018, 5(3), 69; https://doi.org/10.3390/aerospace5030069
Received: 30 March 2018 / Revised: 24 May 2018 / Accepted: 15 June 2018 / Published: 25 June 2018
(This article belongs to the Special Issue Bio-Inspired Aerospace System)
Autonomous flight of Flapping Wing Micro Air Vehicles (FWMAVs) is a major challenge in the field of robotics, due to their light weight and their flapping-induced body motions. An FWMAV is presented weighing a mere 20 g while all its sensors and processing for autonomous flight are onboard. The navigation is based on a 4-g stereo vision camera with onboard processing. Three basic navigational tasks are demonstrated, namely obstacle avoidance, door traversing and corridor following. The presented combination of sensors and control routines is shown to allow flight in common unprepared environments like corridors and offices. The algorithms do not depend on prior classification or learning of the environment or control logic and work in any unprepared environment with vertical texture. While some failure cases remain, this work forms an important step towards very small autonomous indoor MAV.
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Keywords:
micro air vehicle; DelFly; flapping wing MAV; corridor traversal; stereo vision
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MDPI and ACS Style
Tijmons, S.; De Wagter, C.; Remes, B.; De Croon, G. Autonomous Door and Corridor Traversal with a 20-Gram Flapping Wing MAV by Onboard Stereo Vision. Aerospace 2018, 5, 69.
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