Autonomous navigation of a multirotor using visual odometry and dynamic obstacle avoidance

Akshay Kalkunte Suresh

Abstract: In the present day, aerial vehicles such as micro fixed-wings or multirotor systems are important assets for industrial growth. These vehicles are generally autonomous or semi-autonomous and have a wide field of applications in military, mining or forest surveillance. All these applications are highly dependent on GPS (Global Positioning System) localization. Our project involves the design, assembly and configuration of a fully autonomous multirotor capable of manoeuvring in a GPS denied environment without the aid of large stationary points of reference. The multirotor is capable of interacting with external autonomous moving objects using a combination of control and computer vision algorithms. It creates efficient routes in flight for navigation whilst avoiding obstacles during the motion.