Laser-Guided Quadrotor Obstacle Avoidance

摘要

In recent times, autonomous flying quadrotor vehicles have been of increasing interest in the area of autonomous navigation. In autonomous navigation of flying or ground vehicles, one of the most important capabilities of the system is obstacle avoidance. Moreover, there are many circumstances in which it may be necessary to guide a vehicle through a size-limited environment without the aid of a GPS system. This paper presents a simple strategy to indoor, large obstacle avoidance of a quadrotor vehicle in a GPS-denied environment. The solution presented assists a small quadrotor in autonomously navigating indoors in an obstacle-ridden environment with the end goal being to reach a defined area within a large room.