Date of Award
Computer Science and Engineering
Kimon P. Valavanis, Ph.D.
Matthew J. Rutherford, Ph.D.
Fixed-wing, Mechatronic, UAV, Unmanned Aerial Vehicle, XMOS
Unmanned Aerial Vehicles have been research in the past decade for a broad range of tasks and application domains such as search and rescue, reconnaissance, traffic control, pipe line inspections, surveillance, border patrol, and communication bridging.
This work describes the design and implementation of a lightweight Commercial-Off-The-Shelf (COTS) semi-autonomous Fixed-Wing Unmanned Aerial Vehicle (UAV). Presented here is a methodology for System Identification utilizing the Box-Jenkins model estimator on recorded flight data to characterize the system and develop a mathematical model of the aircraft. Additionally, a novel microprocessor, the XMOS, is utilized to navigate and maneuver the aircraft utilizing a PD control system.
In this thesis is a description of the aircraft and the sensor suite utilized, as well as the flight data and supporting videos for the benefit of the UAV research community.
Copyright is held by the author. User is responsible for all copyright compliance.
Girwar-Nath, Jonathan Alejandro, "An Efficient Navigation-Control System for Small Unmanned Aircraft" (2013). Electronic Theses and Dissertations. 241.
Received from ProQuest
Jonathan Alejandro Girwar-Nath
Electrical engineering, Mechanical engineering, Computer engineering