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Title: Development of Intelligent Unmanned Aerial Vehicles with Effective Sense and Avoid Capabilities
Keywords: UAV, Autonomous, Vision, Control, Navigation, Obstacle-detection
Issue Date: 11-Nov-2014
Citation: ANG ZONG YAO KEVIN (2014-11-11). Development of Intelligent Unmanned Aerial Vehicles with Effective Sense and Avoid Capabilities. ScholarBank@NUS Repository.
Abstract: This thesis depicts the development of unmanned aerial vehicles (UAV) in hardware design as well as software algorithm development. The main UAV developed is a quadrotor and it has been thoroughly modeled and controlled through the onboard software system using our ground control station. The UAV is mounted with an advanced avionics system used for navigation and a stereo camera system used for obstacle sensing and navigational enhancements. Obstacle detection capabilities are manifested through visual-based algorithms which allow general obstacles and specific obstacles such as power lines to be sensed. Visual-based navigation is also explored using visual odometry where the UAV?s pose estimate is obtained by a fusion of visual-based odometry estimates and Inertial Measurement Unit (IMU) readings using a Kalman filter. Novel ideas such as the use of active stereo vision in featureless environments and onboard 2D map stitching have also been implemented in international competitions.
Appears in Collections:Ph.D Theses (Open)

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