Project Abstract
Autonomous unmanned aerial systems have many potential uses in both civilian and military applications and a large proportion of these uses require UAS to navigate through built-up environments such as urban areas. In order to perform safe operations, a UAS helicopter would need to detect and avoid obstacles around it. Given such a capability, the UAS helicopter could be used to perform tasks such as exploration, mapping and urban search and rescue, while path planning, on the other hand, requires at least a partial map of the environment and the ability to find a route to a goal location based on the map. In this research proposal, techniques to allow a miniature rotorcraft UAV to perform localization and safe wandering in a 3D indoor environment using combination of vision and multivariable fuzzy generalized predictive control based navigation strategy was proposed.
