There is a large amount of research currently being done on autonomous micro-aerial
vehicles (MAV), such as quadrotor helicopters or quadcopters. The ability to create a working
autonomousMAV depends mainly on integrating a simultaneous localization and mapping (SLAM)
solution with the rest of the system. This paper provides an introduction for creating an
autonomous MAV for enclosed environments, aimed at students and professionals alike. The
standard autonomous system and MAV automation are discussed, while we focus on the core
concepts of SLAM systems and trajectory planning algorithms. The advantages and disadvantages
of using remote processing are evaluated, and recommendations are made regarding the viability of
on-board processing. Recommendations are made regarding best practices to serve as a guideline
for aspirant MAV designers.
H.H.G. Coppejans performed this work as part of his Master’s degree in Computer
Engineering, under the supervision of H.C. Myburgh. This work is the combination of three research
assignments in the form of an exam assignment. Each assignment was thoroughly reviewed and graded by
H.C. Myburgh, who also provided detailed feedback, which H.H.G Coppejans incorporated in the final draft.