This thesis presents a purposed navigation and control solution for autonomous ying of a quadrotor in conned spaces where positioning with GPS is notfeasible. The problem and related application considered is autonomous ying of a quadrotor in mineshafts for 3D modeling and inspection. Theoryand test results are presented including positioning experiments with a cameracombined with a UWB-ranging radio and a P-PI regulator for position control.It is argued that this is a viable and cost eective solution that can be usedto determine the position of the copter and control its position to within 0.2meters with stable controlled velocity.
Identifer | oai:union.ndltd.org:UPSALLA1/oai:DiVA.org:ltu-67845 |
Date | January 2018 |
Creators | Unander, Max |
Publisher | Luleå tekniska universitet, Institutionen för system- och rymdteknik |
Source Sets | DiVA Archive at Upsalla University |
Language | English |
Detected Language | English |
Type | Student thesis, info:eu-repo/semantics/bachelorThesis, text |
Format | application/pdf |
Rights | info:eu-repo/semantics/openAccess |
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