An Autonomous Indoor UAV with a Real-Time On-Board Orthogonal SLAM

Here we present the development and implementation of an innovative real-time onboard orthogonal SLAM (simultaneous localization and mapping) algorithm for an industrial quadrotor. The algorithm is discussed particularly with regard to the decision variables and the influences of these variables to the resulting map. The capability of the whole algorithm is demonstrated by experiments. The algorithm delivers a 2D floor plan of the investigated area and the results will show that essential SLAM features like loop closing are covered. All needed algorithms, microcontrollers and sensors are part of self-constructed intelligent control and measurement unit named ICAM. Additionally, all required controllers for an autonomous flight are realized on this unit which is installed below the flight platform. Due to the fact that all needed algorithms for exploration and mapping of an unknown indoor environment run on-board the robot is able to act with full autonomy.