Autonomous Collision Avoidance for a Teleoperated UAV Based on a Super-Ellipsoidal Potential Function

<p>This thesis presents the design of a super-ellipsoidal potential function (SEPF) that can be used, in a static and dynamic environment, for autonomous collision avoidance of an unmanned aerial vehicle (UAV) in a 3-dimensional space. In the design of the SEPF, we have the full control over the shape and size of the potential function. In our proposed approach, a teleoperated UAV can not only autonomously avoid collision with surrounding objects but also track the operator' control input as closely as possible. As a result, an operator can always be in control of the UAV for his/her high-level guidance and navigation task without worrying too much about the UAV collision avoidance while it is being teleoperated. The effectiveness of the proposed approach is demonstrated through a human-in-the-loop simulation using virtual robot experimentation platform (v-rep) and Matlab programs and experimentation using a physical quadrotor UAV in a laboratory environment.</p>

Name thesis:degree_name

M.S.

Level thesis:degree_level

Masters Thesis

Year dc:date.available

2016

Author dc:creator

• Qasim, Mohammed Salim

Contributors dc:contributor

• Kyoung-Dae Kim, Ph.D.
• Ali Besharat
• Kimon Valavanis

• Artificial potential function
• Autonomy
• Collision avoidance
• Quadrotor
• Teleoperation
• Unmanned aerial vehicle
• Electrical and Computer Engineering

Statement dc:rights

• <p>Copyright is held by the author. User is responsible for all copyright compliance.</p>

Language dc:language

en

Repository record dc:identifier

https://digitalcommons.du.edu/etd/1206

OAI identifier oai:identifier

oai:digitalcommons.du.edu:etd-2206