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Journals / Hittite Journal of Science and Engineering / 2020 / Cilt: 7 - Sayı: 2

A Novel Navigation Algorithm for Mapping Indoor Environments with a Quadrotor

Ali Emre TURGUT
Kutluk Bilge ARIKAN
Ömer ORAL
Pages
125–134
Publication Date
2022-10-18
DOI
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AI Summary & Key Takeaways

AI Insight
⚡ TL;DR(Too Long; Didn't Read)

The target-based navigationalgorithm outperforms the other two algorithms especially in environments with obstacles.

📌 3 Key Takeaways

🎯
Objective & Hypothesis:In the last decade, unmanned aerial vehicle gained popularity and started to be used in different tasks most of which are performed in outdoor environments.
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Key Findings & Data:In this paper, we developed a framework and a novel target-based navigationalgorithm for mapping of an unknown 2D environment with a quadrotor using an ultrawideband system.
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Conclusion & Impact:The target-based navigationalgorithm outperforms the other two algorithms especially in environments with obstacles.
🔬Design:Research Article
📍Scope:Comprehensive Sample
⚙️Variables:Domain Parameters

Abstract

In the last decade, unmanned aerial vehicle gained popularity and started to be used in different tasks most of which are performed in outdoor environments. Still, there is a great potential to use quadrotors in indoor tasks such as urban relief and disasteroperations. In this paper, we developed a framework and a novel target-based navigationalgorithm for mapping of an unknown 2D environment with a quadrotor using an ultrawideband system. The target-based navigation algorithm aims to explore map of the environment by moving the border between the discovered and undiscovered areas. It usesA* search algorithm for path planning if there is an obstacle present in the environment.The target-based navigation algorithm is implemented on Gazebo simulator and its performance is compared with the well-known wall following algorithm and exploration algorithm in terms of task completion time and distance travelled. The target-based navigationalgorithm outperforms the other two algorithms especially in environments with obstacles.

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Cite This Article

TURGUT, A. E., ARIKAN, K. B., ORAL, Ö. (2022). A Novel Navigation Algorithm for Mapping Indoor Environments with a Quadrotor. Hittite Journal of Science and Engineering, Cilt: 7 - Sayı: 2, 125–134. https://ajindex.com/articles/537934

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