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Development of a Velocity Controller for Following a Human Using Target Velocity in GPS-Denied Environments

Hartman, Chase
http://orcid.org/0000-0002-5881-7748
http://rave.ohiolink.edu/etdc/view?acc_num=ucin154409977396946

Abstract Details

2018, MS, University of Cincinnati, Engineering and Applied Science: Aerospace Engineering.
With aims of providing a service for people travelling by foot in crime-stricken neighborhoods, a UAV must be developed capable of following a person through said environments. In cities especially, GPS-denial and obstructions may cause GPS-based and vision-based navigation to fail while following a person, or walker, for the extended period of flight time required for this mission. In order to address this issue, a velocity controller interfaced with PX4 flight controller firmware was designed which uses the walker’s measured velocity, likely obtained in a finalized design through a smartphone’s accelerometer and gyroscope, to maintain the last recorded distance to the target. This is accomplished by taking in the walker’s velocity and converting it into commands which mimic the motion of the walker. Additionally, a controller was designed which uses the angle between the unmanned aerial vehicle (UAV) and the walker, with respect to the east-axis, as well as UAV distance to walker to create velocity commands that reduce said distance to a desired value. Both controllers were tested in simulation and hardware experiments. The results of these tests indicate that a UAV would be able to maintain its distance to the target for short periods of time, and that the method described is an adequate replacement to hovering after loss of visual. Further, the UAV, using relative angle and distance, was able to successfully fly within the desired distance zone and maintain that approximate distance for the rest of the experiment.
Rajnikant Sharma, Ph.D. (Committee Chair)
Kelly Cohen, Ph.D. (Committee Member)
George T. Black, M.S. (Committee Member)
84 p.
Aerospace Materials
Velocity Control; GPS Denied; Vision Denied; Controls; Dynamics; Person Following

Recommended Citations

Citations

  • Hartman, C. (2018). Development of a Velocity Controller for Following a Human Using Target Velocity in GPS-Denied Environments [Master's thesis, University of Cincinnati]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ucin154409977396946

    APA Style (7th edition)

  • Hartman, Chase. Development of a Velocity Controller for Following a Human Using Target Velocity in GPS-Denied Environments. 2018. University of Cincinnati, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ucin154409977396946.

    MLA Style (8th edition)

  • Hartman, Chase. "Development of a Velocity Controller for Following a Human Using Target Velocity in GPS-Denied Environments." Master's thesis, University of Cincinnati, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=ucin154409977396946

    Chicago Manual of Style (17th edition)

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This open access ETD is published by University of Cincinnati and OhioLINK.