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Multirotor Uas Sense And Avoid With Sensor Fusion, Jonathan Mark Buchholz
Multirotor Uas Sense And Avoid With Sensor Fusion, Jonathan Mark Buchholz
Doctoral Dissertations and Master's Theses
In this thesis, the key concepts of independent autonomous Unmanned Aircraft Systems (UAS) are explored including obstacle detection, dynamic obstacle state estimation, and avoidance strategy. This area is explored in pursuit of determining the viability of UAS Sense and Avoid (SAA) in static and dynamic operational environments. This exploration is driven by dynamic simulation and post-processing of real-world data. A sensor suite comprised of a 3D Light Detection and Ranging (LIDAR) sensor, visual camera, and 9 Degree of Freedom (DOF) Inertial Measurement Unit (IMU) was found to be beneficial to autonomous UAS SAA in urban environments. Promising results are based …