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

Year Degree Awarded

2020

Creative Commons License

Creative Commons Attribution-Noncommercial-No Derivative Works 3.0 License
This work is licensed under a Creative Commons Attribution-Noncommercial-No Derivative Works 3.0 License.


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