Publication Date

2019

Document Type

Thesis

Committee Members

Xiaodong Zhang, Ph.D. (Advisor); Luther Palmer, Ph.D. (Committee Member); Kuldip Rattan, Ph.D. (Committee Member); Jonathan Muse, Ph.D. (Committee Member)

Degree Name

Master of Science in Electrical Engineering (MSEE)

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 the effectiveness of the algorithms.

Page Count

54

Year Degree Awarded

2019


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