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Gilson-Thesis-Final.pdf (1.14 MB)
ETD Abstract Container
Abstract Header
Fault-tolerant mapping and localization for Quadrotor UAV
Author Info
Gilson, Maximillian Andrew
Permalink:
http://rave.ohiolink.edu/etdc/view?acc_num=wright157865858408435
Abstract Details
Year and Degree
2019, Master of Science in Electrical Engineering (MSEE), Wright State University, Electrical Engineering.
Abstract
This research aims to accomplish three main tasks for a quadrotor UAV with mapping and navigation capabilities. Firstly, a Simultaneous Localization and Mapping (SLAM) system is developed utilizing a laser rangefinder an open source SLAM algorithm called GMapping. This system allows for mapping of the surrounding environment as well as localizing the position of the quadrotor, enabling position control. Secondly, several path planning algorithms were implemented and evaluated. This allows the quadrotor to navigate through the environment even in the presence of obstacles. Lastly, to compensate for possible faults in the SLAM measurements, a fault-tolerant control method is developed. Real-time experimental results have shown the effectiveness of the algorithms.
Committee
Xiaodong Zhang, Ph.D. (Advisor)
Luther Palmer, Ph.D. (Committee Member)
Kuldip Rattan, Ph.D. (Committee Member)
Jonathan Muse, Ph.D. (Committee Member)
Pages
54 p.
Subject Headings
Electrical Engineering
Keywords
fault-tolerant control
;
quadrotor
;
uav
;
SLAM
;
mav
;
uas
;
path planning
;
machine learning reinforcement
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Citations
Gilson, M. A. (2019).
Fault-tolerant mapping and localization for Quadrotor UAV
[Master's thesis, Wright State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=wright157865858408435
APA Style (7th edition)
Gilson, Maximillian.
Fault-tolerant mapping and localization for Quadrotor UAV.
2019. Wright State University, Master's thesis.
OhioLINK Electronic Theses and Dissertations Center
, http://rave.ohiolink.edu/etdc/view?acc_num=wright157865858408435.
MLA Style (8th edition)
Gilson, Maximillian. "Fault-tolerant mapping and localization for Quadrotor UAV." Master's thesis, Wright State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=wright157865858408435
Chicago Manual of Style (17th edition)
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Document number:
wright157865858408435
Download Count:
237
Copyright Info
© 2019, all rights reserved.
This open access ETD is published by Wright State University and OhioLINK.