The purpose of this project is to add autonomous navigation and mapping to a micro aerial vehicle (MAV) with the aid of additional sonar sensors that are mounted to the MAV's chassis. In this paper, an Extended Kalman Filter Simultaneous Localization and Mapping (EKF-SLAM) system is implemented on a MAV with four sonar sensors. Some simulations are developed to test the various modules and processes created for the project, and the final system is tested on an AR.Drone 2.0 quadcopter with an added sonar sensor package.
Computer Science (MS)
Department, Program, or Center
Computer Science (GCCIS)
Williams, Mark, "Sonar-Based Autonomous Navigation and Mapping of Indoor Environments Using Micro-Aerial Vehicles" (2014). Thesis. Rochester Institute of Technology. Accessed from
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