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Title: Navigation of Unmanned Aerial Vehicles in GPS-denied Environments
Keywords: UAV, SLAM, Model and Control, Navigation
Issue Date: 30-Sep-2014
Citation: CUI JINQIANG (2014-09-30). Navigation of Unmanned Aerial Vehicles in GPS-denied Environments. ScholarBank@NUS Repository.
Abstract: This thesis studies the navigation and control of unmanned aerial vehicles (UAVs) in GPS-denied cluttered environments, such as forests. Research on modeling and control, state estimation and simultaneous localization and mapping (SLAM) was carried out with actual implementation and flight tests in real forest environments. Quadrotor and coaxial helicopter platforms were constructed and controlled using the robust perfect tracking control technique. Tree trunks are extracted from laser range finder based on geometric descriptors, which serve as features in the scan matching process to provide velocity measurement. The velocity measurements are then fused with the acceleration of inertial measurement unit (IMU) in a Kalman filter. The GraphSLAM technique, which includes procedures to construct a graph from a set of robot poses and measurement, is utilized for localization and mapping. The algorithms are evaluated in GPS-denied environments including indoor and forest.
Appears in Collections:Ph.D Theses (Open)

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