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A Primer on Autonomous Aerial Vehicle Design
Hugo H G Coppejans1, Herman C Myburgh2
1Department of Electrical, Electronic and Computer Engineering, University of Pretoria, Pretoria 0002, South Africa. hcoppejans@gmail.com.
Sensors (Basel, Switzerland)
|December 4, 2015
Summary
This guide introduces autonomous micro-aerial vehicles (MAVs) for enclosed spaces, focusing on simultaneous localization and mapping (SLAM) and trajectory planning. It offers best practices for MAV designers, evaluating processing options for optimal performance.
Area of Science:
- Robotics and Autonomous Systems
- Computer Vision
- Navigation and Control
Background:
- Growing research in autonomous micro-aerial vehicles (MAVs) like quadcopters.
- Simultaneous Localization and Mapping (SLAM) is crucial for MAV autonomy.
Purpose of the Study:
- To introduce autonomous MAV creation for enclosed environments.
- To guide students and professionals in MAV design.
- To focus on SLAM and trajectory planning for MAVs.
Main Methods:
- Discussion of standard autonomous systems and MAV automation.
- In-depth analysis of SLAM system concepts.
- Exploration of trajectory planning algorithms.
- Evaluation of remote versus on-board processing for MAVs.
Main Results:
- SLAM integration is key to MAV autonomy.
- On-board processing offers advantages for MAVs in certain scenarios.
- Remote processing has trade-offs for MAVs.
Conclusions:
- Provides essential guidelines for aspiring MAV designers.
- Recommends best practices for developing autonomous MAVs.
- Highlights the importance of SLAM and processing choices in MAV design.
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