Framework for autonomous onboard navigation with the AR.Drone

We present a framework for autonomous flying using the AR.Drone low cost quadrotor. The system performs all sensing and computations on-board, making the system independent of any base station or remote control. High level navigation and control tasks are carried out in a microcontroller that steers the vehicle to a desired location. We experimentally demonstrate the properties and capabilities of the system autonomously following several trajectory patterns of different complexity levels and evaluate the performance of our system.