Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Indoor 3D Map Building using the Sinusoidal Flight Trajectory of a UAV

UAV의 정현파 궤적 알고리즘을 이용한 3차원 실내 맵빌딩

  • Hwang, Yo-Seop (Department of Electronic and Electric and Computer Engineering, Pusan National University) ;
  • Choi, Won-Suck (Department of Electronic and Electric and Computer Engineering, Pusan National University) ;
  • Woo, Chang-Jun (Department of Electronic and Electric and Computer Engineering, Pusan National University) ;
  • Wang, Zhi-Tao (Department of Electronic and Electric and Computer Engineering, Pusan National University) ;
  • Lee, Jang-Myung (Department of Electronic and Electric and Computer Engineering, Pusan National University)
  • 황요섭 (부산대학교 전자전기컴퓨터공학과) ;
  • 최원석 (부산대학교 전자전기컴퓨터공학과) ;
  • 우창준 (부산대학교 전자전기컴퓨터공학과) ;
  • 왕지도 (부산대학교 전자전기컴퓨터공학과) ;
  • 이장명 (부산대학교 전자전기컴퓨터공학과)
  • Received : 2014.09.23
  • Accepted : 2015.02.05
  • Published : 2015.05.01
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Abstract

This paper proposes a robust 3D mapping system for a UAV (Unmanned Aerial Vehicle) that carries a LRF (Laser Range Finder) using the sinusoidal trajectory algorithm. In the case of previous 3D mapping research, the UAV usually takes off vertically and flights up and down while the LRF is measuring horizontally. In such cases, the measuring range is limited and it takes a long time to do mapping. By using the sinusoidal trajectory algorithm proposed in this research, the 3D mapping can be time-efficient and the measuring range can be widened. The 3D mapping experiments have been done to evaluate the performance of the sinusoidal trajectory algorithm by scanning indoor walls.

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References

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