liu.seSearch for publications in DiVA
Endre søk
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Towards Autonomous Landing of a Quadrotorusing Monocular SLAM Techniques
Linköpings universitet, Institutionen för datavetenskap, Artificiell intelligens och integrerad datorsystem. Linköpings universitet, Tekniska högskolan.
2012 (engelsk)Independent thesis Advanced level (degree of Master (Two Years)), 20 poäng / 30 hpOppgave
Abstract [en]

Use of Unmanned Aerial Vehicles have seen enormous growth in recent years due to the advances in related scientific and technological fields. This fact combined with decreasing costs of using UAVs enables their use in new application areas. Many of these areas are suitable for miniature scale UAVs - Micro Air Vehicles(MAV) - which have the added advantage of portability and ease of deployment. One of the main functionalities necessary for successful MAV deployment in real-world applications is autonomous landing. Landing puts particularly high requirements on positioning accuracy, especially in indoor confined environments where the common global positioning technology is unavailable. For that reason using an additional sensor, such as a camera, is beneficial. In this thesis, a set of technologies for achieving autonomous landing is developed and evaluated. In particular, state estimation based on monocular vision SLAM techniques is fused with data from onboard sensors. This is then used as the basis for nonlinear adaptive control as well trajectory generation for a simple landing procedure. These components are connected using a new proposed framework for robotic development. The proposed system has been fully implemented and tested in a simulated environment and validated using recorded data. Basic autonomous landing was performed in simulation and the result suggests that the proposed system is a viable solution for achieving a fully autonomous landing of a quadrotor.

sted, utgiver, år, opplag, sider
2012. , s. 102
HSV kategori
Identifikatorer
URN: urn:nbn:se:liu:diva-85635ISRN: LIU-IDA/LITH-EX-A--12/026--SEOAI: oai:DiVA.org:liu-85635DiVA, id: diva2:572088
Fag / kurs
Computer and information science at the Institute of Technology
Uppsök
Technology
Veileder
Examiner
Tilgjengelig fra: 2012-11-26 Laget: 2012-11-26 Sist oppdatert: 2012-11-26bibliografisk kontrollert

Open Access i DiVA

MonoSLAMLanding.pdf(2202 kB)434 nedlastinger
Filinformasjon
Fil FULLTEXT01.pdfFilstørrelse 2202 kBChecksum SHA-512
86283b291a4a1b8b30067ad8776521cabfa5d6aaa022f542768292bc9966758e2592e13bd76cf8b9af5f17bf44225ebe9fbab672e981a4a1ca52a0151283faa0
Type fulltextMimetype application/pdf

Søk i DiVA

Av forfatter/redaktør
Olofsson, Jonatan
Av organisasjonen

Søk utenfor DiVA

GoogleGoogle Scholar
Totalt: 434 nedlastinger
Antall nedlastinger er summen av alle nedlastinger av alle fulltekster. Det kan for eksempel være tidligere versjoner som er ikke lenger tilgjengelige

urn-nbn

Altmetric

urn-nbn
Totalt: 369 treff
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf