Abstract
This paper presents a navigation algorithm for one-dimensional range sensors for a hexacopter’s flight. The hexacopter’s attitude is controlled by horizontal and vertical controllers, respectively, so the vertical rotation is utilized to accumulate multirange sensor data, similar to a two-dimensional lidar. The pseudo-lidar image provides information to help determine the suitability of the range data for navigation. The navigation results are computed using a simulator and show advantages of the suggested algorithm compared with a previously proposed method. Moreover, the proposed algorithm is verified by conducting a real flight experiment using a hexacopter.
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