A Novel Navigation Algorithm for Mapping Indoor Environments with a Quadrotor
Yıl: 2020 Cilt: 7 Sayı: 2 Sayfa Aralığı: 125 - 134 Metin Dili: İngilizce DOI: 10.17350/HJSE19030000181 İndeks Tarihi: 28-11-2020
A Novel Navigation Algorithm for Mapping Indoor Environments with a Quadrotor
Öz: In the last decade, unmanned aerial vehicle gained popularity and started to be used in different tasks most of which are performed in outdoor environments. Still, there is a great potential to use quadrotors in indoor tasks such as urban relief and disasteroperations. In this paper, we developed a framework and a novel target-based navigationalgorithm for mapping of an unknown 2D environment with a quadrotor using an ultrawideband system. The target-based navigation algorithm aims to explore map of the environment by moving the border between the discovered and undiscovered areas. It usesA* search algorithm for path planning if there is an obstacle present in the environment.The target-based navigation algorithm is implemented on Gazebo simulator and its performance is compared with the well-known wall following algorithm and exploration algorithm in terms of task completion time and distance travelled. The target-based navigationalgorithm outperforms the other two algorithms especially in environments with obstacles.
Anahtar Kelime: Belge Türü: Makale Makale Türü: Araştırma Makalesi Erişim Türü: Erişime Açık
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| APA | ORAL Ö, Turgut A, Arikan K (2020). A Novel Navigation Algorithm for Mapping Indoor Environments with a Quadrotor. , 125 - 134. 10.17350/HJSE19030000181 |
| Chicago | ORAL ÖMER,Turgut Ali Emre,Arikan Kutluk Bilge A Novel Navigation Algorithm for Mapping Indoor Environments with a Quadrotor. (2020): 125 - 134. 10.17350/HJSE19030000181 |
| MLA | ORAL ÖMER,Turgut Ali Emre,Arikan Kutluk Bilge A Novel Navigation Algorithm for Mapping Indoor Environments with a Quadrotor. , 2020, ss.125 - 134. 10.17350/HJSE19030000181 |
| AMA | ORAL Ö,Turgut A,Arikan K A Novel Navigation Algorithm for Mapping Indoor Environments with a Quadrotor. . 2020; 125 - 134. 10.17350/HJSE19030000181 |
| Vancouver | ORAL Ö,Turgut A,Arikan K A Novel Navigation Algorithm for Mapping Indoor Environments with a Quadrotor. . 2020; 125 - 134. 10.17350/HJSE19030000181 |
| IEEE | ORAL Ö,Turgut A,Arikan K "A Novel Navigation Algorithm for Mapping Indoor Environments with a Quadrotor." , ss.125 - 134, 2020. 10.17350/HJSE19030000181 |
| ISNAD | ORAL, ÖMER vd. "A Novel Navigation Algorithm for Mapping Indoor Environments with a Quadrotor". (2020), 125-134. https://doi.org/10.17350/HJSE19030000181 |
| APA | ORAL Ö, Turgut A, Arikan K (2020). A Novel Navigation Algorithm for Mapping Indoor Environments with a Quadrotor. Hittite Journal of Science and Engineering, 7(2), 125 - 134. 10.17350/HJSE19030000181 |
| Chicago | ORAL ÖMER,Turgut Ali Emre,Arikan Kutluk Bilge A Novel Navigation Algorithm for Mapping Indoor Environments with a Quadrotor. Hittite Journal of Science and Engineering 7, no.2 (2020): 125 - 134. 10.17350/HJSE19030000181 |
| MLA | ORAL ÖMER,Turgut Ali Emre,Arikan Kutluk Bilge A Novel Navigation Algorithm for Mapping Indoor Environments with a Quadrotor. Hittite Journal of Science and Engineering, vol.7, no.2, 2020, ss.125 - 134. 10.17350/HJSE19030000181 |
| AMA | ORAL Ö,Turgut A,Arikan K A Novel Navigation Algorithm for Mapping Indoor Environments with a Quadrotor. Hittite Journal of Science and Engineering. 2020; 7(2): 125 - 134. 10.17350/HJSE19030000181 |
| Vancouver | ORAL Ö,Turgut A,Arikan K A Novel Navigation Algorithm for Mapping Indoor Environments with a Quadrotor. Hittite Journal of Science and Engineering. 2020; 7(2): 125 - 134. 10.17350/HJSE19030000181 |
| IEEE | ORAL Ö,Turgut A,Arikan K "A Novel Navigation Algorithm for Mapping Indoor Environments with a Quadrotor." Hittite Journal of Science and Engineering, 7, ss.125 - 134, 2020. 10.17350/HJSE19030000181 |
| ISNAD | ORAL, ÖMER vd. "A Novel Navigation Algorithm for Mapping Indoor Environments with a Quadrotor". Hittite Journal of Science and Engineering 7/2 (2020), 125-134. https://doi.org/10.17350/HJSE19030000181 |
