Fault-tolerant mapping and localization for Quadrotor UAV

Fault-tolerant mapping and localization for Quadrotor UAV

Bibliographic Details
Main Author: Gilson, Maximillian Andrew
Language:English
Published: Wright State University / OhioLINK 2019
Subjects:
Electrical Engineering
fault-tolerant control
quadrotor
uav
SLAM
mav
uas
path planning
machine learning reinforcement
Online Access:http://rave.ohiolink.edu/etdc/view?acc_num=wright157865858408435
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spelling ndltd-OhioLink-oai-etd.ohiolink.edu-wright1578658584084352021-08-03T07:13:46Z Fault-tolerant mapping and localization for Quadrotor UAV Gilson, Maximillian Andrew Electrical Engineering fault-tolerant control quadrotor uav SLAM mav uas path planning machine learning reinforcement This research aims to accomplish three main tasks for a quadrotor UAV with mapping andnavigation capabilities. Firstly, a Simultaneous Localization and Mapping (SLAM) system isdeveloped utilizing a laser rangefinder an open source SLAM algorithm called GMapping. Thissystem allows for mapping of the surrounding environment as well as localizing the position ofthe quadrotor, enabling position control. Secondly, several path planning algorithms wereimplemented and evaluated. This allows the quadrotor to navigate through the environment evenin the presence of obstacles. Lastly, to compensate for possible faults in the SLAMmeasurements, a fault-tolerant control method is developed. Real-time experimental results haveshown the effectiveness of the algorithms. 2019 English text Wright State University / OhioLINK http://rave.ohiolink.edu/etdc/view?acc_num=wright157865858408435 http://rave.ohiolink.edu/etdc/view?acc_num=wright157865858408435 unrestricted This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws.
collection NDLTD
language English
sources NDLTD
topic Electrical Engineering
fault-tolerant control
quadrotor
uav
SLAM
mav
uas
path planning
machine learning reinforcement
spellingShingle Electrical Engineering
fault-tolerant control
quadrotor
uav
SLAM
mav
uas
path planning
machine learning reinforcement
Gilson, Maximillian Andrew
Fault-tolerant mapping and localization for Quadrotor UAV
author Gilson, Maximillian Andrew
author_facet Gilson, Maximillian Andrew
author_sort Gilson, Maximillian Andrew
title Fault-tolerant mapping and localization for Quadrotor UAV
title_short Fault-tolerant mapping and localization for Quadrotor UAV
title_full Fault-tolerant mapping and localization for Quadrotor UAV
title_fullStr Fault-tolerant mapping and localization for Quadrotor UAV
title_full_unstemmed Fault-tolerant mapping and localization for Quadrotor UAV
title_sort fault-tolerant mapping and localization for quadrotor uav
publisher Wright State University / OhioLINK
publishDate 2019
url http://rave.ohiolink.edu/etdc/view?acc_num=wright157865858408435
work_keys_str_mv AT gilsonmaximillianandrew faulttolerantmappingandlocalizationforquadrotoruav
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