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Proceedings Paper

On-board SLAM for indoor UAV using a laser range finder
Author(s): M. Alpen; C. Willrodt; K. Frick; J. Horn
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Paper Abstract

Here we present a real-time algorithm for on-board SLAM (simultaneous localization and mapping) of a quadrotor using a laser range finder. Based on successfully implemented techniques for ground robots, we developed an algorithm that merges a new scan into the global map without any iteration. This causes some inaccuracy of the global map which leads to an error propagation during the robot's mission. Therefore an optimization algorithm reducing this inaccuracy is essential. Within this optimization lines with the same orientation and an overlapping in one of the two possible coordinates of a 2D-plane are merged if their distance is below a certain threshold value. Due to reduction of the required computing power for SLAM calculation by using orthogonal SLAM a real time SLAM running on a microcontroller becomes possible. Because of the small weight and the low electric power consumption, this controller can be mounted on an industrial quadrotor. Therefore acting autonomously in an unknown indoor environment becomes possible. In this paper we also show the validation of the presented SLAM algorithm. The first step of validation is an offline implementation in Matlab and the second step is the online validation of our algorithm on the industrial quadrotor AR100B of the AirRobot Company.

Paper Details

Date Published: 7 May 2010
PDF: 11 pages
Proc. SPIE 7692, Unmanned Systems Technology XII, 769213 (7 May 2010); doi: 10.1117/12.849984
Show Author Affiliations
M. Alpen, Helmut-Schmidt-Univ. (Germany)
C. Willrodt, Helmut-Schmidt-Univ. (Germany)
K. Frick, Helmut-Schmidt-Univ. (Germany)
J. Horn, Helmut-Schmidt-Univ. (Germany)


Published in SPIE Proceedings Vol. 7692:
Unmanned Systems Technology XII
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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