NDLTD Global ETD Search
  • Refine Query
  • Source
  • Publication year
  • to
  • Language
  • No language data
  • Tagged with
  • 1
  • 1
  • 1
  • 1
  • 1
  • 1
  • 1
  • 1
  • 1
  • 1
  • 1
  • 1
  • 1
  • 1
  • 1
  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.

Search results

Showing 1 to 1 of 1 (0.128 seconds)
1

AUTONOMOUS QUADROTOR COLLISION AVOIDANCE AND DESTINATION SEEKING IN A GPS-DENIED ENVIRONMENT

Kirven, Thomas C. 01 January 2017 (has links)
This thesis presents a real-time autonomous guidance and control method for a quadrotor in a GPS-denied environment. The quadrotor autonomously seeks a destination while it avoids obstacles whose shape and position are initially unknown. We implement the obstacle avoidance and destination seeking methods using off-the-shelf sensors, including a vision-sensing camera. The vision-sensing camera detects the positions of points on the surface of obstacles. We use this obstacle position data and a potential-field method to generate velocity commands. We present a backstepping controller that uses the velocity commands to generate the quadrotor's control inputs. In indoor experiments, we demonstrate that the guidance and control methods provide the quadrotor with sufficient autonomy to fly point to point, while avoiding obstacles.
autonomous
quadcopter
quadrotor
collision avoidance
destination seeking
Aeronautical Vehicles
Computer-Aided Engineering and Design
Controls and Control Theory
Control Theory
Dynamic Systems
Electro-Mechanical Systems
Non-linear Dynamics
Robotics

Page generated in 0.1332 seconds