Date of Award
Mechatronics Systems Engineering
Kyoung-Dae Kim, Ph.D.
Artificial Potential Function, Autonomy, Collision Avoidance, Quadrotor, Teleoperation, UAV
This thesis presents the design of a super-ellipsoidal potential function (SEPF) that can be used, in a static and dynamic environment, for autonomous collision avoidance of an unmanned aerial vehicle (UAV) in a 3-dimensional space. In the design of the SEPF, we have the full control over the shape and size of the potential function. In our proposed approach, a teleoperated UAV can not only autonomously avoid collision with surrounding objects but also track the operator' control input as closely as possible. As a result, an operator can always be in control of the UAV for his/her high-level guidance and navigation task without worrying too much about the UAV collision avoidance while it is being teleoperated. The effectiveness of the proposed approach is demonstrated through a human-in-the-loop simulation using virtual robot experimentation platform (v-rep) and Matlab programs and experimentation using a physical quadrotor UAV in a laboratory environment.
Copyright Statement / License for Reuse
This work is licensed under a Creative Commons Attribution 4.0 License.
Qasim, Mohammed Salim, "Autonomous Collision Avoidance for a Teleoperated UAV Based on a Super-Ellipsoidal Potential Function" (2016). Electronic Theses and Dissertations. 1206.
Received from ProQuest
Mohammed Salim Qasim
Electrical Engineering, Mechanical Engineering, Computer Engineering