Author ORCID Identifier
Year of Publication
Master of Science in Mechanical Engineering (MSME)
Dr. Jesse B. Hoagg
This thesis presents a real-time autonomous guidance and control method for a quadrotor in a GPS-denied environment. The quadrotor autonomously seeks a destination while it avoids obstacles whose shape and position are initially unknown. We implement the obstacle avoidance and destination seeking methods using off-the-shelf sensors, including a vision-sensing camera. The vision-sensing camera detects the positions of points on the surface of obstacles. We use this obstacle position data and a potential-field method to generate velocity commands. We present a backstepping controller that uses the velocity commands to generate the quadrotor's control inputs. In indoor experiments, we demonstrate that the guidance and control methods provide the quadrotor with sufficient autonomy to fly point to point, while avoiding obstacles.
Digital Object Identifier (DOI)
Kirven, Thomas C., "AUTONOMOUS QUADROTOR COLLISION AVOIDANCE AND DESTINATION SEEKING IN A GPS-DENIED ENVIRONMENT" (2017). Theses and Dissertations--Mechanical Engineering. 105.
(b) Exp_2.mov: video example 1 of quadrotor obstacle avoidance and destination seeking experiment
final_exp.MOV (41225 kB)
(c) final_exp.mov: video example 2 of quadrotor obstacle avoidance and destination seeking experiment
flight.cpp (44 kB)
(d) flight.cpp: flight guidance, navigation, and control script
flight.h (13 kB)
(e) flight.hpp: header file for flight.cpp
Aeronautical Vehicles Commons, Computer-Aided Engineering and Design Commons, Controls and Control Theory Commons, Control Theory Commons, Dynamic Systems Commons, Electro-Mechanical Systems Commons, Navigation, Guidance, Control and Dynamics Commons, Non-linear Dynamics Commons, Ordinary Differential Equations and Applied Dynamics Commons, Robotics Commons