Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/147858
Title: DESIGN AND IMPLEMENTATION OF NAVIGATION SYSTEMS FOR UNMANNED AERIAL VEHICLES
Authors: CHEN XUDONG
ORCID iD:   orcid.org/0000-0001-6687-9319
Keywords: computer vision, autonomous navigation, unmanned aerial vehicle, modelling, control, LiDAR
Issue Date: 3-Jul-2018
Citation: CHEN XUDONG (2018-07-03). DESIGN AND IMPLEMENTATION OF NAVIGATION SYSTEMS FOR UNMANNED AERIAL VEHICLES. ScholarBank@NUS Repository.
Abstract: The capability of unmanned systems, such as unmanned aerial vehicles (UAVs) autonomously executing mission or gathering information is valuable for many applications. In order to reliably and intelligently execute these applications, unmanned systems should be able to autonomously localize, navigate, avoid obstacles as well as detect and track objects. In this thesis, a quadcopter UAV is of special interest to the author. The use of such a platform is justified from the technology readiness level. To improve the overall flight control performance, system modeling is essential for the controller to accurately track the reference based on the control law. To search and localize the object in the environment, marker-based visual object detection systems are designed to facilitate missions that require the unmanned systems to intelligent track and follow the target. The quadcopter system using the abovementioned algorithm is developed to autonomously land on a fast-moving truck during both day and night time. However, the vision-based localization is subject to many conditions and not reliable in certain environments. The 3D LiDAR-based localization and mapping algorithm is hence implemented with the quadcopter system to facilitate the autonomous navigation in the unknown GPS-denied environment.
URI: http://scholarbank.nus.edu.sg/handle/10635/147858
Appears in Collections:Master's Theses (Open)

Show full item record
Files in This Item:
File Description SizeFormatAccess SettingsVersion 
ChenXD.pdf22.61 MBAdobe PDF

OPEN

NoneView/Download

Page view(s)

6
checked on Oct 11, 2018

Download(s)

3
checked on Oct 11, 2018

Google ScholarTM

Check


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.