AUTONOMOUS NAVIGATION IN DYNAMIC ENVIRONMENTS

Abstract

Robotic systems that operate indoors are often unable to rely on GPS, and dynamic environments prove difficult to navigate for robotic systems that rely on SLAM (Simultaneous Location and Mapping). Autonomous navigation without the use of GPS or SLAM techniques require a system to rely on more fundamental hardware and software concepts. The challenge is made even greater when the system is intended to fly, interact with moving targets, and avoid moving obstacles. This is the design criteria that our autonomous multirotor is adhering to for the International Aerial Robotics Competition. This paper will describe the purpose behind each of our multirotor's sensors, such as LIDAR (Light Detection and Ranging) systems and Optical Flow sensors, that enable it to accurately interact with its environment without SLAM techniques, as well as the multirotor's onboard software that powers its autonomous capabilities.