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
Department or Program
Department of Electrical Engineering
Year Degree Awarded
2019
Copyright
Copyright 2019, all rights reserved. My ETD will be available under the "Fair Use" terms of copyright law.
