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  • Publication
    Open Access
    Autonome Erkundung und Kartographierung unbekannter Innenräume durch einen Flugroboter
    (Universitätsbibliothek der HSU / UniBwH, 2013) ; ;
    Helmut-Schmidt-Universität / Universität der Bundeswehr Hamburg
    In this work, an approach for autonomous exploration and mapping of unknown indoor environments by a flying robot is presented. The used innovative SLAM algorithm (Simultaneous Localization And Mapping) works in real time and is based on the assumption of a predominant rectangular environment. The basic idea of SLAM is to merge several optical measurements collected by the robot at different positions and points of time. The global map is combined of the single measurements previously converted to local maps in each case. A key feature of the presented algorithm is the integration of a new measurement in the current global map within one step of iteration. The used flight platform is an industrial quadrotor that has been enhanced by the self-designed payload named ICAM (Intelligent Control And Measurement Unit) to realize the autonomous flight operations. Due to this, all needed algorithms for mapping and navigation can be implemented on board the flight robot and connection to a ground station during the mission is not required. The results show that the autonomous exploration and mapping of unknown indoor environments by a flying robot is possible.