Autonomous Indoor Drone

Special Aspects of Mobile autonomous Systems

In this project an autonomous indoor flying drone was built, that is capable of creating a map of its surrounding room and navigating through it on its own. The drone in this project was custom built and equipped with a variety of sensors to be able to create an environmental understanding.

Additionally, a part of the project was the creation of a simulated version of the drone to test the mapping and navigation algorithms. Most of the development for the drone software was done in Python using ROS and the package ROSflight. Some sensor components are based on C/C++ and several service scripts were created with bash.

Check out the source code on: Github