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1、2012IEEEInternationalConferenceonRoboticsandAutomationRiverCentre,SaintPaul,Minnesota,USAMay14-18,2012AutonomousIndoor3DExplorationwithaMicro-AerialVehicleShaojieShen,NathanMichael,andVijayKumarAbstract—Inthispaper,weproposeastochasticdifferentialequation-basedexplorationalg
2、orithmtoenableexplorationinthree-dimensionalindoorenvironmentswithapayloadcon-strainedmicro-aerialvehicle(MAV).Weareabletoaddresscomputation,memory,andsensorlimitationsbyconsideringonlytheknownoccupiedspaceinthecurrentmap.Wedetermineregionsforfurtherexplorationbasedontheevol
3、utionofastochasticdifferentialequationthatsimulatestheexpansionofasystemofparticleswithNewtoniandynamics.Theregionsofmostsignificantparticleexpansioncorrelatetounexploredspace.Afteridentifyingandprocessingtheseregions,theautonomousMAVnavigatestotheselocationstoenablefullyauto
4、nomousexploration.Theperformanceoftheapproachisdemonstratedthroughnumericalsimulationsandexperimentalresultsinsingleandmulti-floorindoorexperiments.Fig.1.Theexperimentalplatformwithonboardcomputation(1.6GHzAtomprocessor)andsensing(laserscanner,MicrosoftKinect,andIMU).I.INTROD
5、UCTIONInthispaper,wepresentamethodologyforexplorationtheuncertaintyinthemapthroughsensinginunexploredinthree-dimensionalindoorenvironmentswithapayloadregions.constrainedmicro-aerialvehicle(MAV).WeconsidertheproblemofautonomousexplorationasconsistingoftwoWhiletheseapproachesa
6、reeffectiveintwodimensionsparts:(1)thedefinitionofregions(frontiers)that,whenvis-(e.g.[6]–[8]),thenaiveextensionofthesemethodstothreeited,spatiallyextendthecurrentenvironmentmodel,and(2)dimensionsintroducesseveralchallengeswhenconsideringautonomousnavigationtothoseregions,inc
7、ludingmapping,systemswithpayloadconstraints.Theprimarychallengeislocalization,planning,andcontrol.Aspayloadlimitationsontheabilityofonboardsensorstofaithfullyprovideinfor-ourMAVrestricttheonboardprocessingandsensingoptions,mationaboutknownandunknownenvironmentregionsinwepurs
8、ueamethodologyforidentifyingregionsforfurtherthreedimensions.Duetolimitedav
