Perception and Navigation for an Autonomous quadrotor in GPS-denied Environments

Abstract

Robots need autonomous navigation to complete their tasks e fficiently. This becomes more challenging in GPS-denied environments where positioning information is not available. For small flying robots and quadroto rs, inherent limitations such as limited sensor payload and small system time-consta nt add another layer of challenge to the problem. This paper presents a solution for autonomous navigation of a quadrotor rotorcraft by performing autonomous behaviors, such as explorat ion, returning home, or following waypoints. The solution relies on accurate loc alization, mapping, and navigation between waypoints. Multiple tests were perform ed in simulated and real-world environments to show the effectiveness of the pr oposed solution.