A Novel Navigation Algorithm for Mapping Indoor Environments with a Quadrotor
Hittite Journal of Science and Engineering, vol.7, no.2, pp.125-134, 2020 (TRDizin)
- Publication Type: Article / Article
- Volume: 7 Issue: 2
- Publication Date: 2020
- Doi Number: 10.17350/hjse19030000181
- Journal Name: Hittite Journal of Science and Engineering
- Journal Indexes: TR DİZİN (ULAKBİM)
- Page Numbers: pp.125-134
- Open Archive Collection: AVESIS Open Access Collection
- TED University Affiliated: Yes
Abstract
In the last decade, unmanned aerial vehicle gained popularity and started to be used in different tasks most of which are performed in outdoor environments. Still, there is a great potential to use quadrotors in indoor tasks such as urban relief and disasteroperations. In this paper, we developed a framework and a novel target-based navigationalgorithm for mapping of an unknown 2D environment with a quadrotor using an ultrawideband system. The target-based navigation algorithm aims to explore map of the environment by moving the border between the discovered and undiscovered areas. It usesA* search algorithm for path planning if there is an obstacle present in the environment.The target-based navigation algorithm is implemented on Gazebo simulator and its performance is compared with the well-known wall following algorithm and exploration algorithm in terms of task completion time and distance travelled. The target-based navigationalgorithm outperforms the other two algorithms especially in environments with obstacles.