Cellular Communication-Based Autonomous UAV Navigation with Obstacle Avoidance for Unknown Indoor Environments

The technology of Unmanned Aerial Vehicles (UAV) has been the subject of pioneering research in recent years. Also, the subject has been used in various situations for both outdoor and indoor. In this paper, a cellular communication-based autonomous UAV Navigation is proposed that enables UAVs to maneuver independently in previously unknown and GPS-denied indoor environments with LiDAR sensors. The main idea of the proposed scheme is to implement LTE connection to UAV Navigation and compared it to a Wi-Fi connection. We have proposed that autonomous UAV navigation system for unknown environment like indoor. This system relies on the combination of ROS-based Hector SLAM systems, 2D-LiDAR sensor and LTE connection. The performance of proposed scheme is evaluated as the error distance and exploration time for unknown area like indoor environment. The mapping efficiency of LTE connection is 57.5% greater than the Wi-Fi connection. Computation time for flight is approximately 200 seconds.