Robohub.org
Aggressive flight using laser scanner, IMU, & 3D map
Evan Ackerman, writing for IEEE Spectrum’s Automaton blog, says
Researchers at MIT CSAIL have decided that slow and obstacle-free flight is boring, so they’ve come up with a way to get MAVs navigating at high speed, indoors, around obstacles, without needing motion tracking or GPS or beacons or any of that nonsense. All they need is a little aircraft that can carry a planar laser rangefinder, an IMU, and a pre-existing 3D occupancy map that the MAV can localize itself in.
This research has been conducted by the Robust Robotics Group (RRG), led by Nicholas Roy. A paper explaining it in detail was presented at ICRA by graduate student Adam Bry. A similar video using a quadrotor (below) appears on the personal page of RRG Research Scientist Stefanie Tellex, which is worth a visit for the cat video she’s also posted! (IMU = Inertial Measurement Unit)
A Voice-Commandable Robotic Helicopter…
tags: 3D occupancy map, Adam Bry, CSAIL, GPS denied, ICRA, IMU, inertial measurement unit, MAV, MIT, Nicholas Roy, planar laser rangefinder, Robust Robotics Group, UAV
