dc.contributor.advisor | L'Afflitto, Andrea | |
dc.contributor.author | Karinshak, Joshua | |
dc.date.accessioned | 2019-07-01T15:43:34Z | |
dc.date.available | 2019-07-01T15:43:34Z | |
dc.date.issued | 2019-08-01 | |
dc.identifier.uri | https://hdl.handle.net/11244/320366 | |
dc.description.abstract | This thesis addresses the issue of the generation of tactical trajectories, as is desirable
in the case of robot autonomy in hostile environments. The generation of such trajectory
currently lies beyond the purview of contemporary path planning research, which focuses on
solutions to the shortest path problem and variations thereof. This novel guidance system
is developed as a two-stage process. In the first stage, a graph-based search algorithm is
used to generate a global trajectory, as is the norm for state-of-the-art path planners. In the
second stage, optimal control techniques are utilized to develop local trajectories that are
optimal with respect to user-defined cost matrices over a finite time horizon. The guidance
system is implemented for use with quadrotor vehicles. It is tested in simulation and then in
flight. In both cases, the trajectory generated by the system makes use of cover present in the
environment, rather than fly directly to the goal point. Additionally included is a discussion
on modern visual navigation techniques, which, if implemented, would enable autonomous
operation in initially unknown environments. In combination with the guidance algorithm
developed in this thesis, the resulting system would be fully capable of conducting missions
in hostile environments | en_US |
dc.language | en | en_US |
dc.rights | Attribution 4.0 International | * |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ | * |
dc.subject | model predictive control | en_US |
dc.subject | path planning | en_US |
dc.subject | autonomy | en_US |
dc.subject | quadrotor | en_US |
dc.title | Toward Tactical Autonomy in Aerial Robotics | en_US |
dc.contributor.committeeMember | Sun, Wei | |
dc.contributor.committeeMember | Tang, Choon Yik | |
dc.date.manuscript | 2019-06-15 | |
dc.thesis.degree | Master of Science | en_US |
ou.group | Gallogly College of Engineering::School of Aerospace and Mechanical Engineering | en_US |
shareok.nativefileaccess | restricted | en_US |