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Goal-Aware Robocentric Mapping and Navigation of a Quadrotor Unmanned Aerial Vehicle

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2019, MS, University of Cincinnati, Engineering and Applied Science: Aerospace Engineering.
Autonomous vehicles have become a reality in many military and civilian applications. The ability to deploy them in constrained environments, such as regions with limited or no Global Positioning System (GPS) access, or no a-priori map information, can not only further their application space but also add capability to successfully complete tasks that are otherwise considered dull, dirty or dangerous for humans. This Thesis proposes and implements an autonomous navigation solution for an Unmanned Aerial Vehicle (UAV) using a robot-centered reference frame. An Extended Kalman Filter (EKF) is used to estimate the relative orientation of the UAV with respect to an user-defined goal and other objects of interest in the environment (called landmarks). A visual tracker continuously tracks these objects and based on the camera parameters, calculates their bearing measurement with respect to the UAV. This method uses a bearing-only measurement model to update the states of the system. The goal is selected real-time from the video feed provided by the UAV's onboard camera and the UAV has to navigate to it while avoiding obstacles along its path. A combined PN-guidance and obstacle avoidance controller is used for this purpose. A detailed 2D observability analysis is performed to find the sufficient conditions required for the system to be observable. The problem formulation is corroborated through extensive simulation and hardware results.
Rajnikant Sharma, Ph.D. (Committee Chair)
Manish Kumar, Ph.D. (Committee Member)
Ou Ma, Ph.D. (Committee Member)
115 p.

Recommended Citations

Citations

  • Biswas, S. (2019). Goal-Aware Robocentric Mapping and Navigation of a Quadrotor Unmanned Aerial Vehicle [Master's thesis, University of Cincinnati]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1552581467878839

    APA Style (7th edition)

  • Biswas, Srijanee. Goal-Aware Robocentric Mapping and Navigation of a Quadrotor Unmanned Aerial Vehicle. 2019. University of Cincinnati, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ucin1552581467878839.

    MLA Style (8th edition)

  • Biswas, Srijanee. "Goal-Aware Robocentric Mapping and Navigation of a Quadrotor Unmanned Aerial Vehicle." Master's thesis, University of Cincinnati, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1552581467878839

    Chicago Manual of Style (17th edition)