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Easy 3D mapping for indoor navigation of micro UAVs

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DOI

  • Henrik Schiøler, Aalborg Universitet, Department of Electronic Systems, Aalborg University, Aalborg, Denmark.
  • ,
  • Luminita Totu
  • Anders La Cour-Harbo, Aalborg Universitet, Department of Electronic Systems, Aalborg University, Aalborg, Denmark.
  • ,
  • John Josef Leth, Aalborg Universitet, Department of Electronic Systems, Aalborg University, Aalborg, Denmark., Danmark
  • Jesper Abildgaard Larsen, Aalborg Universitet, Department of Electronic Systems, Aalborg University, Aalborg, Denmark.

Indoor operation of micro Unmanned Aerial Vehicles (UAV or UAS) is significantly simplified with the capability for indoor localization as well as a sufficiently precise 3D map of the facility. Creation of 3D maps based on the available architectural information should on the one hand provide a map of sufficient precision and on the other limit complexity to a manageable level. This paper presents a box based approach for easy generation of 3D maps to serve as the basis for indoor navigation of UAS. The basic building block employed is a 3D axis parallel box (APB). Unions of APBs constitute maps, which are by definition closed to basic set operations such as; union, intersection, set difference etc. The restriction to APBs is made in accordance with the tradeoff between simplicity and expressiveness, where real time requirements emphasize simplicity. The mapping approach is presented along with different approaches of selecting via points ensuring sufficiently efficient path planning and at the same time ensuring scalability by keeping complexity low. A proposition for minimal via point assignment is ensuring at least feasibility of path planning is presented. Feasibility is not proved formally. Instead results from a randomized statistical proof are given. 3D Mapping, via point assignment and calibration are all implemented in a stand alone software application. The application program provides, through a graphical user interface, the possibility to map indoor environments based on existing 2D floor maps.

OriginalsprogEngelsk
TidsskriftICINCO 2017 - Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics
Sider (fra-til)300-308
Antal sider9
DOI
StatusUdgivet - 1 jan. 2017
Eksternt udgivetJa
Begivenhed14th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2017 - Madrid, Spanien
Varighed: 26 jul. 201728 jul. 2017

Konference

Konference14th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2017
LandSpanien
ByMadrid
Periode26/07/201728/07/2017
SponsorInstitute for Systems and Technologies of Information, Control and Communication (INSTICC)

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