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Articles 1 - 2 of 2
Full-Text Articles in Engineering
Autonomous Quadrotor Collision Avoidance And Destination Seeking In A Gps-Denied Environment, Thomas C. Kirven
Autonomous Quadrotor Collision Avoidance And Destination Seeking In A Gps-Denied Environment, Thomas C. Kirven
Theses and Dissertations--Mechanical Engineering
This thesis presents a real-time autonomous guidance and control method for a quadrotor in a GPS-denied environment. The quadrotor autonomously seeks a destination while it avoids obstacles whose shape and position are initially unknown. We implement the obstacle avoidance and destination seeking methods using off-the-shelf sensors, including a vision-sensing camera. The vision-sensing camera detects the positions of points on the surface of obstacles. We use this obstacle position data and a potential-field method to generate velocity commands. We present a backstepping controller that uses the velocity commands to generate the quadrotor's control inputs. In indoor experiments, we demonstrate that the …
Relative Cross Track Error Calculations In Asabe/Iso 12188-2:2012 And Power/Energy Analysis Using A 20 Hp Tractor On A Fully Electric Drivetrain, Joseph D. Rounsaville
Relative Cross Track Error Calculations In Asabe/Iso 12188-2:2012 And Power/Energy Analysis Using A 20 Hp Tractor On A Fully Electric Drivetrain, Joseph D. Rounsaville
Theses and Dissertations--Biosystems and Agricultural Engineering
ASABE/ISO Standard 12188-2 provides test procedures for positioning and guidance systems in agricultural vehicles during straight and level travel. The standard provides excellent descriptions of test procedures, however it does not provide detail on methods to carry out the calculations necessary to calculate relative cross-track error (XTE), which is the primary measurement used to judge accuracy of the system. The standard was used to estimate the guidance accuracy of a relatively low-accuracy vehicle at 1.25 and 0.5 m s-1. At 1.25 m s-1, a nearest point calculation overestimated mean XTE by 0.8 cm, or 8.2%. The …