A Primer on Autonomous Aerial Vehicle Design

Hugo H. G. Coppejans; Herman C. Myburgh

doi:10.3390/s151229785

Sensors (Dec 2015)

A Primer on Autonomous Aerial Vehicle Design

Hugo H. G. Coppejans,
Herman C. Myburgh

Affiliations

Hugo H. G. Coppejans: Department of Electrical, Electronic and Computer Engineering, University of Pretoria, Pretoria 0002, South Africa
Herman C. Myburgh: Department of Electrical, Electronic and Computer Engineering, University of Pretoria, Pretoria 0002, South Africa

DOI: https://doi.org/10.3390/s151229785
Journal volume & issue: Vol. 15, no. 12
pp. 30033 – 30061

Abstract

Read online

There is a large amount of research currently being done on autonomous micro-aerial vehicles (MAV), such as quadrotor helicopters or quadcopters. The ability to create a working autonomous MAV depends mainly on integrating a simultaneous localization and mapping (SLAM) solution with the rest of the system. This paper provides an introduction for creating an autonomous MAV for enclosed environments, aimed at students and professionals alike. The standard autonomous system and MAV automation are discussed, while we focus on the core concepts of SLAM systems and trajectory planning algorithms. The advantages and disadvantages of using remote processing are evaluated, and recommendations are made regarding the viability of on-board processing. Recommendations are made regarding best practices to serve as a guideline for aspirant MAV designers.

Published in Sensors

ISSN: 1424-8220 (Online)
Publisher: MDPI AG
Country of publisher: Switzerland
LCC subjects: Technology: Chemical technology
Website: http://www.mdpi.com/journal/sensors

About the journal

Abstract

Keywords