Autonomous Indoor Proximity Flight of a Quadcopter Drone Using a Directional 3D Lidar and VIO Sensor
Jong Tai Jang, Wonkeun Youn · 2022 22nd International Conference on Control, Automation and Systems (ICCAS) · 2022
This paper describes the implementation and the flight experiment result of the autonomous indoor proximity flight of a MAV(Micro Aero Vehicle) quadcopter. As the visual sensors for autonomous flight of the drone, light-weighted commercial products were used. For the flight control and visual sensor processing, several open softwares were used. After system structures are explained, the data processing procedures in software are explained briefly from the sensor input to the control of the drone. The flight simulation and real flight test were performed and their results are described.