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Autonomous flying  of quadrotor: for 3D modeling and inspection of mineshafts
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering.
2018 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This thesis presents a purposed navigation and control solution for autonomous ying of a quadrotor in conned spaces where positioning with GPS is notfeasible. The problem and related application considered is autonomous ying of a quadrotor in mineshafts for 3D modeling and inspection. Theoryand test results are presented including positioning experiments with a cameracombined with a UWB-ranging radio and a P-PI regulator for position control.It is argued that this is a viable and cost eective solution that can be usedto determine the position of the copter and control its position to within 0.2meters with stable controlled velocity.

Place, publisher, year, edition, pages
2018.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:ltu:diva-67845OAI: oai:DiVA.org:ltu-67845DiVA, id: diva2:1187722
External cooperation
Conex AB
Subject / course
Student thesis, at least 30 credits
Educational program
Engineering Physics and Electrical Engineering, master's level
Presentation
2017-06-01, 15:40 (English)
Examiners
Available from: 2018-04-17 Created: 2018-03-05 Last updated: 2018-04-17Bibliographically approved

Open Access in DiVA

fulltext(6482 kB)22 downloads
File information
File name FULLTEXT02.pdfFile size 6482 kBChecksum SHA-512
1a722d6c9da4ba50bce293804b910f5f15f71eb7120df5ee6258ca9e0751f89015ec7ecd8436b16bd13839c1d660b17111c0ca8be62f97f3bd8a2c8595b531c3
Type fulltextMimetype application/pdf

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Department of Computer Science, Electrical and Space Engineering
Control Engineering

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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf