One of the emerging tasks for Micro Air Vehicles (MAVs) is autonomous indoor navigation. While commonly employed platforms for such tasks are micro-quadrotors, insectinspired flapping wing MAVs can offer many advantages, such
as being inherently safe due to their low inertia, reciprocating wings bouncing of objects or potentially lower noise levels compared to rotary wings. Here, we present the first flapping wing MAV to perform an autonomous multi-room exploration task. Equipped with an on-board autopilot and a 4 g stereo vision system, the DelFly Explorer succeeded in combining the two most common tasks of an autonomous indoor exploration mission: room exploration and door passage. During the room exploration, the vehicle uses stereo-vision based droplet algorithm to avoid and navigate along the walls and obstacles.
Simultaneously, it is running a newly developed monocular color based Snake-gate algorithm to locate doors. A successful detection triggers the heading-based door passage algorithm. In the real-world test, the vehicle could successfully navigate, multiple times in a row, between two rooms separated by a
corridor, demonstrating the potential of flapping wing vehicles for autonomous exploration tasks.
Original languageEnglish
Title of host publicationInternational Conference on Robotics and Automation
Subtitle of host publication 21-25 May 2018, Brisbane, Australia
Pages5546 - 5552
Number of pages7
ISBN (Electronic)978-1-5386-3081-5
Publication statusPublished - 2018
EventICRA 2018: 2018 IEEE International Conference on Robotics and Automation - Brisbane Convention & Exhibition Centre, Brisbane, Australia
Duration: 21 May 201825 May 2018


ConferenceICRA 2018: 2018 IEEE International Conference on Robotics and Automation

ID: 47327195