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Full-Text Articles in Engineering
Airborne Collision Detection And Avoidance For Small Uas Sense And Avoid Systems, Laith Rasmi Sahawneh
Airborne Collision Detection And Avoidance For Small Uas Sense And Avoid Systems, Laith Rasmi Sahawneh
Theses and Dissertations
The increasing demand to integrate unmanned aircraft systems (UAS) into the national airspace is motivated by the rapid growth of the UAS industry, especially small UAS weighing less than 55 pounds. Their use however has been limited by the Federal Aviation Administration regulations due to collision risk they pose, safety and regulatory concerns. Therefore, before civil aviation authorities can approve routine UAS flight operations, UAS must be equipped with sense-and-avoid technology comparable to the see-and-avoid requirements for manned aircraft. The sense-and-avoid problem includes several important aspects including regulatory and system-level requirements, design specifications and performance standards, intruder detecting and tracking, …
Developing A Guidance Law For A Small-Scale Controllable Projectile Using Backstepping And Adaptive Control Techniques And A Hardware System Implementation For A Uav And A Ugv To Track A Moving Ground Target, Kevin Christopher Meier
Developing A Guidance Law For A Small-Scale Controllable Projectile Using Backstepping And Adaptive Control Techniques And A Hardware System Implementation For A Uav And A Ugv To Track A Moving Ground Target, Kevin Christopher Meier
Theses and Dissertations
The work in this thesis is on two topics. The first topic focuses on collaboration between a UAV and a UGV to track a moving ground target. The second topic focuses on deriving a guidance law for a small-scale controllable projectile to be guided into a target. For the first topic, we implement a path planning algorithm in a hardware system for a UAV and UGV to track a ground target. The algorithm is designed for urban environments where it is common for objects to obstruct sensors located on the UAV and the UGV. During the hardware system's implementation, multiple …
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 …
Path Planning For Unmanned Air And Ground Vehicles In Urban Environments, Andrew B. Curtis
Path Planning For Unmanned Air And Ground Vehicles In Urban Environments, Andrew B. Curtis
Theses and Dissertations
Unmanned vehicle systems, specifically unmanned air vehicles (UAVs) and unmanned ground vehicles (UGVs), have become a popular research topic. This thesis discusses the potential of a UAV-UGV system used to track a human moving through complex urban terrain. This research focuses on path planning problems for both a UAV and a UGV, and presents effective solutions for both problems. In the UAV path planning problem, we desire to plan a path for a miniature fixed-wing UAV to fly through known urban terrain without colliding with any buildings. We present the Waypoint RRT (WRRT) algorithm, which accounts for UAV dynamics while …
Obstacle Avoidance For Small Unmanned Air Vehicles, Brandon R. Call
Obstacle Avoidance For Small Unmanned Air Vehicles, Brandon R. Call
Theses and Dissertations
Small UAVs are used for low altitude surveillance flights where unknown obstacles can be encountered. These UAVs can be given the capability to navigate in uncertain environments if obstacles are identified. This research presents an obstacle avoidance system for small UAVs. First, a mission waypoint path is created that avoids all known obstacles using a genetic algorithm. Then, while the UAV is in flight, obstacles are detected using a forward looking, onboard camera. Image features are found using the Harris Corner Detector and tracked through multiple video frames which provides three dimensional localization of the features. A sparse three dimensional …