Shared autonomy for close-quarters navigation and control of a VTOL platform
Data(s) |
2014
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Resumo |
This thesis presents an approach for a vertical infrastructure inspection using a vertical take-off and landing (VTOL) unmanned aerial vehicle and shared autonomy. Inspecting vertical structure such as light and power distribution poles is a difficult task. There are challenges involved with developing such an inspection system, such as flying in close proximity to a target while maintaining a fixed stand-off distance from it. The contributions of this thesis fall into three main areas. Firstly, an approach to vehicle dynamic modeling is evaluated in simulation and experiments. Secondly, EKF-based state estimators are demonstrated, as well as estimator-free approaches such as image based visual servoing (IBVS) validated with motion capture ground truth data. Thirdly, an integrated pole inspection system comprising a VTOL platform with human-in-the-loop control, (shared autonomy) is demonstrated. These contributions are comprehensively explained through a series of published papers. |
Formato |
application/pdf |
Identificador | |
Publicador |
Queensland University of Technology |
Relação |
http://eprints.qut.edu.au/77431/4/Inkyu_Sa_Thesis.pdf Sa, Inkyu (2014) Shared autonomy for close-quarters navigation and control of a VTOL platform. PhD by Publication, Queensland University of Technology. |
Fonte |
School of Electrical Engineering & Computer Science; Science & Engineering Faculty |
Palavras-Chave | #Quadrotor #Image based Visual Servoing #State estimation #Shared autonomy #Inspection #Robot vision #Control #Position based Visual Servoing #Extended Kalman Filter #System identification |
Tipo |
Thesis |