Date of Award
2021
Document Type
Thesis
Degree Name
M.S.
Department
Electrical Engineering
First Advisor
Kimon P. Valavanis
Second Advisor
Matthew Rutherford
Third Advisor
David Gao
Fourth Advisor
Michael Keables
Keywords
Electrical engineering, Robotics, Robotic design
Abstract
A hybrid aerial-ground robotic platform allows for enhanced functionality combining most of the operational profiles of an aerial and ground vehicle with applications to intelligence, surveillance, reconnaissance (ISR), infrastructure inspection, emergency response, photography, etc. Motivated by this challenge, we designed, developed, and tested a prototype hybrid aerial-ground robotic vehicle capable of guidance, navigation, and control in the air and on the ground. The thesis focus is on the system design. As such, at first, we designed and analyzed the mechanical component to ensure durability. We then designed the electrical component to reduce overall weight and maximize battery life. We developed and integrated software modules and widely used controllers to allow for teleoperation and autonomous control. A series of tests were run to ensure proper functionality and demonstrate operability. Tests included a controlled functionality test, aerial test, ground test, transition component test from air to ground and ground to air, dual-mode functionality tests, and battery runtime test. Performed tests dictated design revisions that resulted in a fully functional prototype ready to be used by scientists, engineers, practitioners, and end-users.
Publication Statement
Copyright is held by the author. User is responsible for all copyright compliance.
Recommended Citation
Willmon, William Garrett, "Design, Manufacture, and Test of a Hybrid Aerial-Ground Robotic Platform" (2021). Electronic Theses and Dissertations. 2015.
https://digitalcommons.du.edu/etd/2015
Provenance
Received from ProQuest
Rights holder
William Garrett Willmon
File size
93 pgs
Copyright date
2021
File format
application/pdf
Language
en
Discipline
Electrical engineering