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An Optimized Circulating Vector Field Obstacle Avoidance Guidance for Unmanned Aerial Vehicles

Clem, Garrett Stuart
http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1530874969780028

Abstract Details

2018, Master of Science (MS), Ohio University, Mechanical Engineering (Engineering and Technology).
Unmanned Aerial Vehicles (UAVs) conventionally navigate by following a series of pre-planned waypoints. When encountering an obstacle in flight, such as no-fly zones or other aircraft, the vehicle’s path or waypoints may need to be re-planned. Waypoint guidance can be used to avoid obstacles, which are typically generated off-line and relayed to the UAV requiring active communications. Vector Fields (VFs) that are generated based on a desired path can provide guidance around a newly discovered obstacle without the need for a re-plan. VF convergence and circulation components were optimized to minimize deviation from a desired path when guiding around a circular obstacle. Results indicated that the developed VF obstacle avoidance optimizer provides similar path deviation performance as waypoints without the need for re-planning. Lookup tables for GVF circulation and decay radius were constructed allowing for real time obstacle avoidance without the need to re-plan mission waypoints. Experimental flight tests were conducted using a indoor quadcopter with imposed turn rate constraints, emulating a fixed wing UAV. Deviation from the planned path for simulation and experimentation were compared.
Jay Wilhelm (Committee Chair)
122 p.
Engineering; Mechanical Engineering; Robotics; Robots
Unmanned Aerial Vehicles; UAV; quadcopter; guidance; vector field; navigation; control; obstacle avoidance; crayflie; autonomy

Recommended Citations

Citations

  • Clem, G. S. (2018). An Optimized Circulating Vector Field Obstacle Avoidance Guidance for Unmanned Aerial Vehicles [Master's thesis, Ohio University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1530874969780028

    APA Style (7th edition)

  • Clem, Garrett. An Optimized Circulating Vector Field Obstacle Avoidance Guidance for Unmanned Aerial Vehicles . 2018. Ohio University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1530874969780028.

    MLA Style (8th edition)

  • Clem, Garrett. "An Optimized Circulating Vector Field Obstacle Avoidance Guidance for Unmanned Aerial Vehicles ." Master's thesis, Ohio University, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1530874969780028

    Chicago Manual of Style (17th edition)

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This open access ETD is published by Ohio University and OhioLINK.