Indoor Autonomous Drone
โดรนอัตโนมัติภายในอาคาร
Course description
Challenges of indoor and GNSS-denied flight; indoor positioning systems; visual-inertial navigation and optical flow; obstacle detection and avoidance; autonomous indoor mission planning; safety measures in enclosed spaces.
Thai description
ความท้าทายของการบินภายในอาคารและพื้นที่ที่ไม่มีสัญญาณ GNSS ระบบระบุตำแหน่งภายในอาคาร การนำทางด้วยภาพและเซนเซอร์เฉื่อย optical flow การตรวจจับและหลบหลีกสิ่งกีดขวาง การวางแผนภารกิจอัตโนมัติภายในอาคาร และมาตรการความปลอดภัยในพื้นที่ปิด
Course learning outcomes (CLO)
| CLO | Outcome | PLO |
|---|---|---|
| CLO1 | Explain challenges of indoor flight | PLO1PLO3 |
| CLO2 | Configure GNSS-free navigation | PLO2 |
| CLO3 | Perform safe indoor autonomous missions | PLO3 |
Learning modules
1Indoor flight
Weeks 1–3 · 30 h2 KU
Online (before class) · 15 h
Study the assigned knowledge units in advance, review media and take the module quiz
- Indoor positioning systemsIn development
- GNSS and constrained navigationTH
In class / field · 15 h
Lab or field practice from worksheets with a safety checklist
2Indoor positioning
Weeks 4–6 · 30 h1 KU
Online (before class) · 15 h
Study the assigned knowledge units in advance, review media and take the module quiz
- Indoor positioning systemsIn development
In class / field · 15 h
Lab or field practice from worksheets with a safety checklist
3VIO and optical flow
Weeks 7–9 · 30 h1 KU
Online (before class) · 15 h
Study the assigned knowledge units in advance, review media and take the module quiz
In class / field · 15 h
Lab or field practice from worksheets with a safety checklist
4Obstacle avoidance
Weeks 10–12 · 30 h2 KU
Online (before class) · 15 h
Study the assigned knowledge units in advance, review media and take the module quiz
- Autonomous path planning and obstacle avoidanceIn development
- LiDAR, radar and obstacle-avoidance sensorsIn development
In class / field · 15 h
Lab or field practice from worksheets with a safety checklist
5Indoor missions and safety
Weeks 13–15 · 30 h1 KU
Online (before class) · 15 h
Study the assigned knowledge units in advance, review media and take the module quiz
- Safety management systems (SMS)In development
In class / field · 15 h
Lab or field practice from worksheets with a safety checklist
Assessment (draft)
| Labs and worksheets | 35% |
| Module quizzes | 10% |
| Midterm examination | 20% |
| Mini-project or practical exam | 35% |
Knowledge domain
Key references
- Siegwart, R., Nourbakhsh, I. R., & Scaramuzza, D. (2011). Introduction to autonomous mobile robots (2nd ed.). MIT Press.
- PX4 Autopilot. PX4 user and developer guide. link