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Bearing-Only Cooperative-Localization And Path-Planning Of Ground And Aerial Robots, Rajnikant Sharma
Bearing-Only Cooperative-Localization And Path-Planning Of Ground And Aerial Robots, Rajnikant Sharma
Theses and Dissertations
In this dissertation, we focus on two fundamental problems related to the navigation of ground robots and small Unmanned Aerial Vehicle (UAVs): cooperative localization and path planning. The theme running through in all of the work is the use of bearing only sensors, with a focus on monocular video cameras mounted on ground robots and UAVs. To begin with, we derive the conditions for the complete observability of the bearing-only cooperative localization problem. The key element of this analysis is the Relative Position Measurement Graph (RPMG). The nodes of an RPMG represent vehicle states and the edges represent bearing measurements …
Vision-Based Path Planning, Collision Avoidance, And Target Tracking For Unmanned Air And Ground Vehicles In Urban Environments, Huili Yu
Theses and Dissertations
Unmanned vehicle systems, specifically Unmanned Air Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) have found potential use in both military and civilian applications. For many applications, unmanned vehicle systems are required to navigate in urban environments where obstacles with various types and sizes exist. The main contribution of this research is to offer vision-based path planning, collision avoidance, and target tracking strategies for Unmanned Air and Ground vehicles operating in urban environments. Two vision-based local-level frame mapping and planning techniques are first developed for Miniature Air Vehicles (MAVs). The techniques build maps and plan paths in the local-level frame of …
System Identification, State Estimation, And Control Of Unmanned Aerial Robots, Caleb H. Chamberlain
System Identification, State Estimation, And Control Of Unmanned Aerial Robots, Caleb H. Chamberlain
Theses and Dissertations
This thesis describes work in a variety of topics related to aerial robotics, including system identification, state estimation, control, and path planning. The path planners described in this thesis are used to guide a fixed-wing UAV along paths that optimize the aircraft's ability to track a ground target. Existing path planners in the literature either ignore occlusions entirely, or they have limited capability to handle different types of paths. The planners described in this thesis are novel in that they specifically account for the effect of occlusions in urban environments, and they can produce a much richer set of paths …