Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 37 for “"Quadcopter"”.
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Autonomous Quadcopter Videographer
In recent years, the interest in quadcopters as a robotics platform for autonomous photography has increased. This is due to their small size and mobility, which allow them to reach places that are difficult or even impossible for humans. This thesis focuses on the design of an autonomous …
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Control of a Quadcopter Aerial Robot Using Optic Flow Sensing
… focuses on the motion control of a custom-built quadcopter aerial robot using optic flow sensing. Optic flow sensing is a vision-based approach that can provide a robot the ability to fly in global positioning system (GPS) denied environments, such as indoor environments. In this work, optic flow …
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Development of an Quadcopter Unmanned Aerial Vehicle for Atmospheric Remote Sensing
<p>This paper explores the development of a quadcopter unmanned aerial vehicle (UAV, a.k.a. drone) for atmospheric remote sensing of temperature, pressure, humidity, and PM2.5 particulate matter quantities. A 3-D printed drone body is designed and flight tuning is performed. An optimal length for …
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Evaluation of Pilot and Quadcopter Performance from Open Loop Mission Oriented Flight Testing
… two groups based on their experience level and a quadcopter is categorized into three groups based on level of autonomy associated with it. Path error is calculated in time domain to distinguish between pilot levels and level of autonomy of UAV. Path error metrics show that novice pilots make more …
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Real-time identification of an unmanned quadcopter flight dynamics using fully tuned radial basis function network
A quadcopter is a four-rotor unmanned aerial vehicle (UAV) with nonlinear and strongly coupled dynamics system. A precise dynamics model is important for developing a robust controller for a quadcopter. NN model capable to obtain the accurate dynamics model from actual data without having any …
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Design and Simulation of a Model Reference Adaptive Control System Employing Reproducing Kernel Hilbert Space for Enhanced Flight Control of a Quadcopter
… framework to enhance the control systems of quadcopters. Traditional MRAC systems, while robust under predictable conditions, can struggle with the dynamic uncertainties typical in unmanned aerial vehicle (UAV) operations such as wind gusts and payload variations. By incorporating RKHS, we …
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Homography-Based State Estimation for Autonomous Exploration in Unknown Environments
… state estimation algorithms to enable a quadcopter UAV to navigate and explore a previously unknown GPS denied environment. These state estimation algorithms are based on tracked Speeded-Up Robust Features (SURF) points and the homography relationship that relates the camera motion to the …
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A Multi-modal Robot for Ground and Aerial Locomotion
This thesis describes the design and testing of a quadcopter that capable of both driving and flying. This was achieved by mounting quadcopter motors and propellers to the center of each of the robot's four wheels. The wheels are then capable of changing orientation in order to allow the robot to …
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Development Towards the use of Beamforming and Adaptive Line Enhancers for Audio Detection of Quadcopters
… usage of Unmanned Aerial Systems (UASs), such as quadcopters and hexacopters, has steadily increased over the past few years in both recreational and commercial use. This increased availability to purchase such systems has also given rise to many safety and security concerns. A common concern is …
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Implementation Of Path Planning Methods To Detect And Avoid GPS Signal Degradation In Urban Environments
… The trajectory generation will consider a quadcopter vehicle dynamics when generating paths. A model of the quadcopter is used to illustrate the validation of this approach in a simulation environment with the GPS model integrated.</p>
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A Hardware-Minimal Unscented Kalman Filter Framework for Visual-Inertial Navigation of Small Unmanned Aircraft
… a UKF formulation specially designed for a quadcopter carrying an Inertial Measurement Unit (IMU) and a downward-facing camera. The UKF fuses data from each of these sensors to track the position of the quadcopter over time. This work supports a number of similar efforts in the robotics and …
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Development of Tools for Conceptual Design of a Wildland Firefighting UAV
… design of an octocopter, hexacopter, and quadcopter. The FE tool was designed around an octocopter's geometry, which leads to complications in generating FE models for a hexacopter or quadcopter. Recommendations were made for altering the FE tool to account for hexacopters and quadcopters. …
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Vision-Aided Navigation using Tracked Landmarks
… and compared using simulation studies with a quadcopter UAV model. State estimation results are then presented using flight data from a quadcopter UAV instrumented with an IMU and a GoPro camera. It is shown that the proposed landmark navigation method is capable of preventing IMU drift errors …
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Algorithms for Generation and Tracking of Fast and Agile Flight Trajectories
… algorithms that address these challenges for a quadcopter aircraft and for a fixed-wing transitioning aircraft that combines vertical take-off and landing (VTOL) with efficient forward flight. This thesis contains several contributions. First, we show that robust control based on incremental …
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Autonomous Flight Arcade: Reinforcement Learning for End-to-End Control of Fixed-Wing Aircraft
… end-to-end control of fixed-wing aircraft and quadcopter drones. These environments are playable by both humans and artificial agents, making them useful for varied tasks including reinforcement learning, imitation learning, and human experiments. Additionally, we show that interpretable …
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Flight evaluation of deep model reference adaptive control
… based controllers. Through experiments on a real quadcopter platform, it is shown that DMRAC can outperform state of the art controllers in different flight regimes while having long-term learning abilities. This makes DMRAC a highly powerful architecture for high-performance control of nonlinear …
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Modeling and Control of Multi-Rotor UAVS: Design for Safety and Performance
… for two different types of multi-rotor UAVs: i) quadcopters with angled thrust vector; and ii) spinning multirotors with streamline-shape fuselage. Afterwards, equilibrium states and the constraints for both types of vehicles are introduced and using control design techniques, we develop ight …
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Design and control of a compact aerial manipulation system with a Delta-type parallel robot
… presents the design, modeling, and control of a quadcopter equipped with a Delta-type parallel manipulator. Such systems present demanding challenges in both control theory and task planning, which are addressed with novel mechanical features, modern flight controllers, and optimal trajectory …
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Sizing Tool for Quadrotor Biplane Tailsitter UAS
… turbine inspections, wherein transition from a quadcopter configuration to a QBT allows for a 5:1 trade of battery weight for wing weight. A 3D, unsteady panel method utilizing a nonlinear implementation of the Kutta-Joukowsky condition is also presented as a means of computing aerodynamic …
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Analysis of Sensing Technologies for Collision Avoidance for Small Rotary-Wing Uncrewed Aerial Vehicles
… then further integrated onto a small low-cost quadcopter for flight testing and data acquisition. Ultimately, a fusion between stereo vision imagery and radar was deemed the most reliable method for providing environmental data needed for collision avoidance.
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