File:A framework for collaborative Quadrotor - ground robot missions (IA aframeworkforcol1094510654).pdf
Original file (1,275 × 1,650 pixels, file size: 3.3 MB, MIME type: application/pdf, 174 pages)
Captions
Summary[edit]
A framework for collaborative Quadrotor - ground robot missions ( ) | ||
---|---|---|
Author |
Milionis, Georgios. |
|
Title |
A framework for collaborative Quadrotor - ground robot missions |
|
Publisher |
Monterey, California. Naval Postgraduate School |
|
Description |
The thesis proposes a real-time control algorithm for the cooperation of a joint team consisting of a Quadrotor and a Ground robot for coordinated ISR missions. The intended application focuses on indoor environments, where Global Positioning System signals are unreliable or simply unavailable so that the control algorithms must rely on local sensor information. The thesis describes the appropriate set up of the lab and includes simulations using a full dynamic model of the quadrotor and robot, demonstrating the suitability of the implemented and the proposed control scheme into a waypoint navigation scenario. The implemented controller uses the Linear Quadratic Regulator method imposed into five different channels; pitch, roll, yaw, x-y position and height, configured to the appropriate gains for smoother following of the trajectory. The proposed control scheme incorporates three key aspects of autonomy; trajectory planning, trajectory following and collaboration of the two vehicles. Using the differentially-flat dynamics property of the system, the trajectory optimization is posed as a non-linear constrained optimization within the output space in the virtual domain, not explicitly related to the time domain. A suitable parameterization using a virtual argument as opposed to time is applied, which ensures initial and terminal constraint satisfaction. The speed profile is optimized independently, followed by the mapping to the time domain achieved using a speed factor. Subjects: Cameras.; Quadrotor; Ground Robot; Cooperation; Localization System; Quanser; Optitrack cameras; linearization; LQR; Waypoint Navigation; Direct method; Trajectory Generator; Trajectory Following; Optimization; Inverse Dynamics |
|
Language | English | |
Publication date | December 2011 | |
Current location |
IA Collections: navalpostgraduateschoollibrary; fedlink |
|
Accession number |
aframeworkforcol1094510654 |
|
Source | ||
Permission (Reusing this file) |
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. As such, it is in the public domain, and under the provisions of Title 17, United States Code, Section 105, may not be copyrighted. |
Licensing[edit]
Public domainPublic domainfalsefalse |
This work is in the public domain in the United States because it is a work prepared by an officer or employee of the United States Government as part of that person’s official duties under the terms of Title 17, Chapter 1, Section 105 of the US Code.
Note: This only applies to original works of the Federal Government and not to the work of any individual U.S. state, territory, commonwealth, county, municipality, or any other subdivision. This template also does not apply to postage stamp designs published by the United States Postal Service since 1978. (See § 313.6(C)(1) of Compendium of U.S. Copyright Office Practices). It also does not apply to certain US coins; see The US Mint Terms of Use.
|
||
This file has been identified as being free of known restrictions under copyright law, including all related and neighboring rights. |
https://creativecommons.org/publicdomain/mark/1.0/PDMCreative Commons Public Domain Mark 1.0falsefalse
This file, which was originally posted to an external website, has not yet been reviewed by an administrator or reviewer to confirm that the above license is valid. See Category:License review needed for further instructions.
|
File history
Click on a date/time to view the file as it appeared at that time.
Date/Time | Thumbnail | Dimensions | User | Comment | |
---|---|---|---|---|---|
current | 01:50, 14 July 2020 | 1,275 × 1,650, 174 pages (3.3 MB) | Fæ (talk | contribs) | FEDLINK - United States Federal Collection aframeworkforcol1094510654 (User talk:Fæ/IA books#Fork8) (batch 1993-2020 #5718) |
You cannot overwrite this file.
File usage on Commons
The following page uses this file:
Metadata
This file contains additional information such as Exif metadata which may have been added by the digital camera, scanner, or software program used to create or digitize it. If the file has been modified from its original state, some details such as the timestamp may not fully reflect those of the original file. The timestamp is only as accurate as the clock in the camera, and it may be completely wrong.
Short title |
|
---|---|
Author | sjhawtho |
Software used | PScript5.dll Version 5.2.2 |
File change date and time | 01:18, 11 January 2012 |
Date and time of digitizing | 01:18, 11 January 2012 |
Conversion program | Acrobat Distiller 10.1.1 (Windows) |
Encrypted | no |
Page size | 612 x 792 pts (letter) |
Version of PDF format | 1.4 |