Publication Date
2020
Document Type
Thesis
Committee Members
Xiaodong Zhang, Ph.D. (Advisor); Luther Palmer, Ph.D. (Committee Member); Jonathan Muse, Ph.D. (Committee Member)
Degree Name
Master of Science in Electrical Engineering (MSEE)
Abstract
Quadrotor UAVs have become a common and easily acquirable hardware platform for research and development with control laws, mapping systems, and path planning. In this research, a non-linear model of a quadrotor UAV is linearized with model parameters being identified using collected flight data. The PID, LQR, and backstepping control laws are implemented. An adaptive control law is also implemented to handle the loss of effectiveness in motor actuation. Additionally, this research also implements a laser-based SLAM algorithm for mapping and localization in an unknown two-dimensional environment. Path planning and obstacle avoidance algorithms are implemented onboard using the Robot Operating System (ROS).
Page Count
92
Department or Program
Department of Electrical Engineering
Year Degree Awarded
2020
Copyright
Copyright 2020, some rights reserved. My ETD may be copied and distributed only for non-commercial purposes and may not be modified. All use must give me credit as the original author.
Creative Commons License
This work is licensed under a Creative Commons Attribution-Noncommercial-No Derivative Works 3.0 License.
