Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 1 of 1
Full-Text Articles in Engineering
High-Performance Testbed For Vision-Aided Autonomous Navigation For Quadrotor Uavs In Cluttered Environments, Shakeeb Ahmad
High-Performance Testbed For Vision-Aided Autonomous Navigation For Quadrotor Uavs In Cluttered Environments, Shakeeb Ahmad
Electrical and Computer Engineering ETDs
This thesis presents the development of an aerial robotic testbed based on Robot Operating System (ROS). The purpose of this high-performance testbed is to develop a system capable of performing robust navigation tasks using vision tools such as a stereo camera. While ensuring the computation of robot odometery, the system is also capable of sensing the environment using the same stereo camera. Hence, all the navigation tasks are performed using a stereo camera and an inertial measurement unit (IMU) as the main sensor suite. ROS is used as a framework for software integration due to its capabilities to provide efficient …