Date of Award

1-1-2016

Document Type

Thesis

Degree Name

M.S.

Department

Mechatronics Systems Engineering

First Advisor

Kyoung-Dae Kim, Ph.D.

Keywords

Artificial potential function, Autonomy, Collision avoidance, Quadrotor, Teleoperation, Unmanned aerial vehicle

Abstract

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.

Publication Statement

Copyright is held by the author. User is responsible for all copyright compliance.

Provenance

Received from ProQuest

Rights holder

Mohammed Salim Qasim

File size

82 p.

File format

application/pdf

Language

en

Discipline

Electrical Engineering, Mechanical Engineering, Computer Engineering

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