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Full-Text Articles in Navigation, Guidance, Control and Dynamics
Planning Algorithms Under Uncertainty For A Team Of A Uav And A Ugv For Underground Exploration, Matteo De Petrillo
Planning Algorithms Under Uncertainty For A Team Of A Uav And A Ugv For Underground Exploration, Matteo De Petrillo
Graduate Theses, Dissertations, and Problem Reports
Robots’ autonomy has been studied for decades in different environments, but only recently, thanks to the advance in technology and interests, robots for underground exploration gained more attention. Due to the many challenges that any robot must face in such harsh environments, this remains an challenging and complex problem to solve.
As technology became cheaper and more accessible, the use of robots for underground ex- ploration increased. One of the main challenges is concerned with robot localization, which is not easily provided by any Global Navigation Services System (GNSS). Many developments have been achieved for indoor mobile ground robots, making …
Uav 6dof Simulation And Kalman Filter For Localizing Radioactive Sources, John G. Goulet
Uav 6dof Simulation And Kalman Filter For Localizing Radioactive Sources, John G. Goulet
Electronic Theses and Dissertations
Unmanned Aerial Vehicles (UAVs) expand the available mission-space for a wide range of budgets. Using MATLAB, this project has developed a six degree of freedom (6DOF) simulation of UAV flight, an Extended Kalman Filter (EKF), and an algorithm for localizing radioactive sources using low-cost hardware. The EKF uses simulated low-cost instruments in an effort to estimate the UAV state throughout simulated flight.
The 6DOF simulates aerodynamics, physics, and controls throughout the flight and provides outputs for each time step. Additionally, the 6DOF simulation offers the ability to control UAV flight via preset waypoints or in realtime via keyboard input.
Using …