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1、90IEEETRANSACTIONSONROBOTICS,VOL.28,NO.1,FEBRUARY2012AFullyAutonomousIndoorQuadrotorSlawomirGrzonka,GiorgioGrisetti,andWolframBurgardAbstractRecently,therehasbeenincreasedinterestinthede-velopmentofautonomousflyingvehicles.However,asmostoftheproposedapproa
2、chesaresuitableforoutdooroperation,onlyafewtechniqueshavebeendesignedforindoorenvironments,wherethesystemscannotrelyontheGlobalPositioningSystem(GPS)and,therefore,havetousetheirexteroceptivesensorsfornavigation.Inthispaper,wepresentageneralnavigationsyste
3、mthatenablesasmall-sizedquadrotorsystemtoautonomouslyoperateinindoorenvironments.Toachievethis,wesystematicallyextendandadapttechniquesthathavebeensuccessfullyappliedongroundrobots.Wedescribeallalgorithmsandpresentabroadsetofexperiments,whichillustratetha
4、ttheyenableaquadrotorrobottoreliablyandautonomouslynavigateinindoorenvironments.IndexTermsNavigation,quadrotor,simultaneouslocalizationandmapping(SLAM),unmannedaerialvehicle(UAV).NRECENTyears,theroboticscommunityhasshownanFig.1.Autonomousflightofourquadrot
5、orinaclutteredofficeroom.TheIincreasinginterestinautonomousaerialvehicles,especiallyfreespacearoundtherobotisseriouslyconfined,imposinghighdemandsonquadrotors.Low-costandsmall-sizeflyingplatformsarebe-posestability,localization,andcontrol.Theimageonthebottom
6、leftshowsthecomingbroadlyavailable,andsomeoftheseplatformsareableofficeroomfromasimilarviewpointasthesnapshot.toliftrelativelyhighpayloadsandprovideanincreasinglybroadsetofbasicfunctionalities.ThisdirectlyraisesthequestionofHowever,thegeneralprinciplesofth
7、enavigationalgorithms,howtoequipthemwithautonomousnavigationabilities.How-whichhavebeensuccessfullyappliedongroundrobots,couldever,asmostoftheproposedapproachesforautonomousfly-inprinciplebetransferredtoflyingvehicles,thistransferisnoting[14],[32]focusonsys
8、temsthatareforoutdooroperation,straightforwardforseveralreasons.Groundrobotsareinher-vehiclesthatcanautonomouslyoperateinindoorenvironmentsentlystable,inthesensethatbyissuingazero-velocitycom-areenvisionedtobeuseful
