Designing a spatially aware, automated quadcopter using an Android control system

Intelligence gathering is a critical component of military operations. Unmanned aerial vehicles (UAVs) have become an increasingly useful tool due to their surveillance and reconnaissance capabilities. However, the use of many of these vehicles is limited to outdoor environments because of their size and reliance on Global Positioning Satellites (GPS). Knowledge of indoor environments is important so that the risk of entering an unsafe or unknown building can be minimized. This paper describes the development of a spatially aware, autonomous quadcopter that uses an Android control system and functions indoors. The system consists of a laser rangefinder for sensory input, a IOIO microcontroller for data communication across platforms, an autopilot system (APM) for flight control, and an Android phone for mission control. The Android Control and Sensor System (ACSS) is currently being developed by the Department of Defense (DOD), MITRE, and academic partners, and will be integrated into the solution. To be considered autonomous, the quadcopter must be able to make a map from the data provided by the laser rangefinder, determine its own location and position in that map, and then execute a set of navigational commands from the Android control system. The success of this project is measured by the system's ability to travel autonomously while simultaneously creating a map and being aware of its location.