LiU Electronic Press
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Author:
Conte, Gianpaolo (Linköping University, Department of Computer and Information Science, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group ) (Linköping University, The Institute of Technology)
Title:
Navigation Functionalities for an Autonomous UAV Helicopter
Department:
Linköping University, Department of Computer and Information Science, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group
Linköping University, The Institute of Technology
Publication type:
Licentiate thesis, comprehensive summary (Other academic)
Language:
English
Place of publ.: Linköping Publisher: Linköping University Electronic Press
Distributor:
AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group
Pages:
74
Series:
Linköping Studies in Science and Technology. Thesis, ISSN 0280-7971; 1307
Year of publ.:
2007
URI:
urn:nbn:se:liu:diva-21966
Permanent link:
http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-21966
ISBN:
978-91-85715-35-0
Local ID:
LiU-Tek-Lic-2007:16
Subject category:
Engineering and Technology
SVEP category:
TECHNOLOGY
Keywords(en) :
Unmanned Aerial Vehicle, Control System, Path Following, Path Planning, Sensor Fusion, Vision Based Landing, Kalman Filter, Real-Time
Abstract(en) :

This thesis was written during the WITAS UAV Project where one of the goals has been the development of a software/hardware architecture for an unmanned autonomous helicopter, in addition to autonomous functionalities required for complex mission scenarios. The algorithms developed here have been tested on an unmanned helicopter platform developed by Yamaha Motor Company called the RMAX. The character of the thesis is primarily experimental and it should be viewed as developing navigational functionality to support autonomous flight during complex real world mission scenarios. This task is multidisciplinary since it requires competence in aeronautics, computer science and electronics. The focus of the thesis has been on the development of a control method to enable the helicopter to follow 3D paths. Additionally, a helicopter simulation tool has been developed in order to test the control system before flight-tests. The thesis also presents an implementation and experimental evaluation of a sensor fusion technique based on a Kalman filter applied to a vision based autonomous landing problem. Extensive experimental flight-test results are presented.

Presentation:
2007-03-30, Alan Turing, hus E, Campus Valla, Linköpings universitet, Linköping, 13:15 (English)
Supervisor:
Doherty, Patrick, Professor (Linköping University, Department of Computer and Information Science, KPLAB - Knowledge Processing Lab) (Linköping University, The Institute of Technology)
Opponent:
Lorenzo, Marconi, Professor (Bologna University, Italy)
Available from:
2009-10-15
Created:
2009-10-07
Last updated:
2009-10-16
Statistics:
502 hits