Close Formation Flight Missions Using Vision-Based Position Detection System

<p>In this thesis, a formation flight architecture is described along with the implementation and evaluation of a state-of-the-art vision-based algorithm for solving the problem of estimating and tracking a leader vehicle within a close-formation configuration. A vision-based algorithm that uses Darknet architecture and a formation flight control law to track and follow a leader with desired clearance in forward, lateral directions are developed and implemented. The architecture is run on a flight computer that handles the process in real-time while integrating navigation sensors and a stereo camera. Numerical simulations along with indoor and outdoor actual flight tests demonstrate the capabilities of detection and tracking by providing a low cost, compact size and low weight solution for the problem of estimating the location of other cooperative or non-cooperative flying vehicles within a formation architecture.</p>

Name thesis:degree_name

Master of Science in Unmanned and Autonomous Systems Engineering

Level thesis:degree_level

Thesis - Open Access

Discipline thesis:degree_discipline

Electrical, Computer, Software, and Systems Engineering

Year

2020

Author dc:creator

• Irigireddy, Ashok Sarath Chandra Reddy

• close formation
• vision-based
• position detection
• Aerospace Engineering
• Electrical and Computer Engineering

Repository record dc:identifier

https://commons.erau.edu/edt/499

OAI identifier oai:identifier

oai:commons.erau.edu:edt-1499