Obstacle avoidance with a multicopter in a dynamic two-dimensional environment

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dc.contributor.advisorSmit, W. J.en_ZA
dc.contributor.authorCoetzee, Jacobus Stephanusen_ZA
dc.contributor.otherStellenbosch University. Faculty of Engineering. Dept. of Mechanical and Mechatronic Engineering.en_ZA
dc.date.accessioned2017-02-21T09:57:55Z
dc.date.accessioned2017-03-29T12:04:06Z
dc.date.available2017-02-21T09:57:55Z
dc.date.available2017-03-29T12:04:06Z
dc.date.issued2017-03
dc.descriptionThesis (MEng)--Stellenbosch University, 2017.en_ZA
dc.description.abstractENGLISH ABSTRACT: In order to allow a multicopter to fly autonomously in a dynamic two-dimensional environment, a prototype obstacle avoidance system was developed. Included in this prototype avoidance system was the development of a two-dimensional proximity sensor. A combination of obstacle avoidance algorithms (D* Lite and the VFF) were coded in MATLAB and verified through various simulations. Pose and measurement uncertainties were also investigated and incorporated into the simulations’ map building technique. In the end, the obstacle avoidance algorithm was successfully implemented in various outdoor test environments, managing to safely navigate the multicopter to its end destination in each case.en_ZA
dc.description.abstractAFRIKAANSE OPSOMMING: Ten einde hindernis vermyding met ’n hommeltuig toe te pas in ’n tweedimensionele vlak, is ’n prototipe hindernis vermydings sisteem ontwerp. Ingesluit by die prototipe vermydings sisteem was die ontwerp van ’n tweedimensionele afstand sensor. ’n Kombinasie van hindernis-vermydings algoritmes (D* Lite en die VFF) was geprogrameer en geverifieer in MATLAB deur verskeie simulasies te doen. Posisie asook meting onsekerheid was ondersoek en in ag geneem in die simulasie se kaart bou tegniek. Daarna was die hindernis-vermyding sisteem suksesvol geimplimenteer in verskeie buitemuurse toets omstandighede waar dit altyd die hommeltuig veilig by sy eind bestemming kon uitbring.af_ZA
dc.format.extent123 pages : illustrationsen_ZA
dc.identifier.urihttp://hdl.handle.net/10019.1/101065
dc.language.isoen_ZAen_ZA
dc.subjectSolar power plants -- Inspectionen_ZA
dc.subjectObstacle avoidanceen_ZA
dc.subjectDynamical systemsen_ZA
dc.subjectProximity spaces -- Flight testingen_ZA
dc.subjectUCTDen_ZA
dc.titleObstacle avoidance with a multicopter in a dynamic two-dimensional environmenten_ZA
dc.typeThesisen_ZA
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