Obstacle Avoidance Navigation Using Horizontal Movement for a Drone Flying in Indoor Environment

A drone for inspecting aging infrastructures should have the capability to move near buildings where GPS signals cannot be received. In order to achieve a navigation technology not relying GPS, a system that can control the position of a drone in indoor environments was developed in this study. A position estimation algorithm using a tracking camera, Intel RealSense Tracking Camera T265, was employed to obtain the position information of the drone even in indoor environments without GPS information. Then, a system for controlling the position of the commanded target position was constructed and verified through experiments. In addition, a control algorithm to avoid obstacles by using horizontal movement was developed and tested with the developed system.