Autonomous navigation and localization of a quadrotor mini-uav by landmarks in indoor environments

In this thesis, the problems of control, autonomous navigation, and localization in an indoor environment are considered for mini-UAV quadrotor. A commonly used localization methods such as GPS sensors or radar are strongly limited due to lack of signals in indoor. This thesis will present autonomous navigation by using vanishing point and inertial navigation methods. And indoor localization by using artificial landmarks in a known environment by utilizing vertical and horizontal cameras onboard of the quadrotor is proposed. The local data from the inertial measurement units onboard are combined with the proposed localization method.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2011

Author dc:creator

• Ahn, Young Min

Contributors dc:contributor

• Sreenivas, Ramavarapu S.

• Autonomous navigation
• Localization
• Landmarks
• Indoor
• Quadrotor

Statement dc:rights

• Copyright 2011 Young Min Ahn

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/24391

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/24391