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Full-Pose Estimation And Tracking Control For A Multi-Rotor Aircraft Package Exchange, Trent P. Smith
Full-Pose Estimation And Tracking Control For A Multi-Rotor Aircraft Package Exchange, Trent P. Smith
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
In this work, research to develop algorithms for a package exchange maneuver between two quad-rotor aircraft is presented. First, the development of tools used for this research is discussed. Second, a controller is designed that synchronizes the flight paths and motion of two quad-rotor robots. The controller is used to guide a designated follower quad-rotor to follow a leader aircraft’s position and orientation. The follower aircraft is equipped with a simple mechanical manipulator to compensate for limitations in the aircrafts maneuverability. finally, a sensor architecture study for relative navigation of Unmanned Aerial Vehicles (UAV) is presented. The architecture study presents …