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Designing an Autonomous

Quadcopter for Indoor Navigation

Varanon Austin Pukasamsombut B4TJ1036


Department of Mechanical and Aerospace Engineering, Tohoku University 20142015
Academic Advisors: Prof. Kazuya Yoshida, Prof. Keiji Nagatani

July 22, 2015

The Aerial Era


UAVs = Unmanned Aerial Vehicles
Also popularly known as Drones

Amazons PrimeAir Delivery Drone

Googles Project Wing Delivery


Drone

Quadcopters
Helicopters that fly using four rotors.
Advantages:
Simple Construction
Easy to Control
Versatile Flight Capabilities

Use in Disaster Response

Photos from the 2011 Tohoku Earthquake


and Tsunami

UAVs can be used to:


Assess Structural Damage
Collect Data (Such as Radiation Levels)
Safely Explore and Map Buildings

Electrical Engineering Building at Tohoku


University
(Damaged by 3.11 Earthquake)
3D Mapping of the 7th-9th Floors Done with
UAV-UGV Collaboration by Tohoku University
and Univ. of Pennsylvania

My Approach
Goal: To create an autonomous quadcopter system
capable of indoor flight while avoiding collision with
surrounding obstacles.
Use: The completed quadcopter system will be
integrated with other components in the future for
specific field use in indoor exploration operations relating
to
response. Examples:
My disaster
Project
Autonomous
Indoor
Quadcopter
System

My Approach
Goal: To create an autonomous quadcopter system
capable of indoor flight while avoiding collision with
surrounding obstacles.
Use: The completed quadcopter system will be
integrated with other components in the future for
specific field use in indoor exploration operations relating
Camera
Structural
to
response. Examples:
My disaster
Project
Analysis
Autonomous
Indoor
Quadcopter
System

Measureme
nt Tools

Data Collection

Mapping
Algorithms

3D Mapping

Why Autonomous?
Navigating a UAV indoors has multiple problems:
1. No GPS = Less Stability
2. Confined Space = More Likely to Crash
3. Vision Not Guaranteed = Harder to Control
An autonomous system allows the UAV to function on its own
indoors, allowing it to operate even in structures that may be
dangerous for humans to enter.
In short, it makes indoor flight Safer and Easier.

Hardware Design

Hardware Design

Quadcopter
Frame

APM 2.6 Flight


Controller

Hardware Design

Original Scanning Angle:


270
Detection Range: Up to
20m

2D Laser

Hardware Design
Redirects
to Floor
160 Used for
Horizontal
Scans
Redirects
to Ceiling

New Horizontal Scanning Angle:


160
Detection Range: Up to 20m

2D Laser Scanner with Mirror


Redirection

Hardware Design
Uses:
Main Medium for Programming
Controls Directional Flight
Obtains and Analyze Sensor
Data
Processes All Necessary
Algorithms

Raspberry Pi Model B+
45g ARM-Based Single-Board
Computer

Two essential algorithms are


needed for autonomous indoor
flight:
1. Flight Stabilization
Maintain position and
attitude.