Integration of potential field theory and proportional navigation theory to autonomously guide an unmanned aerial vehicle.
dc.contributor.advisor | Koziol, Scott M. | |
dc.creator | Friudenberg, Patrick L. | |
dc.date.accessioned | 2016-01-14T16:54:01Z | |
dc.date.available | 2016-01-14T16:54:01Z | |
dc.date.created | 2015-12 | |
dc.date.issued | 2015-11-10 | |
dc.date.submitted | December 2015 | |
dc.date.updated | 2016-01-14T16:54:01Z | |
dc.description.abstract | Industrial robotics, military, surveying, and delivery applications have laid a foundation for research into full autonomy of machines, including Unmanned Aerial Vehicles (UAV). This thesis supports this research by surveying the methods used to guide UAVs, and developing a new method by combining potential fields, typically used for obstacle avoidance, and proportional navigation, a popular missile guidance algorithm. The new algorithm modifies the old algorithms to allow a UAV to track an optimal path to, and rendezvous with, a moving target while avoiding obstacles in its path. A model for a quad rotor style UAV is developed and controlled using feedback linearization. A simulator is built for deploying a number of environments and taking performance measurements. Aspects of the hardware implementation are introduced. | |
dc.format.mimetype | application/pdf | |
dc.identifier.uri | http://hdl.handle.net/2104/9555 | |
dc.language.iso | en | |
dc.rights.accessrights | Worldwide access. | |
dc.subject | Potential fields. Proportional navigation. Guidance. Control. Unmanned aerial vehicle. Quad rotor. UAV. Path planning. Autonomous. Autonomy. Velocity control. | |
dc.title | Integration of potential field theory and proportional navigation theory to autonomously guide an unmanned aerial vehicle. | |
dc.type | Thesis | |
dc.type.material | text | |
thesis.degree.department | Baylor University. Dept. of Electrical & Computer Engineering. | |
thesis.degree.grantor | Baylor University | |
thesis.degree.level | Masters | |
thesis.degree.name | M.S.E.C.E. |
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