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Vector field histogram star obstacle avoidance system for multicopters
Thesis (MEng)--Stellenbosch University, 2016.
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| Other Authors: | |
| Format: | Thesis |
| Language: | en_ZA |
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Stellenbosch : Stellenbosch University
2016
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| _version_ | 1867613733824495616 |
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| access_status_str | Open Access |
| author | Van Breda, Ruan |
| author2 | Smit, Willie |
| author_browse | Smit, Willie Van Breda, Ruan |
| author_facet | Smit, Willie Van Breda, Ruan |
| author_sort | Van Breda, Ruan |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description | Thesis (MEng)--Stellenbosch University, 2016. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/100319 |
| institution | Stellenbosch University (South Africa) |
| language | en_ZA |
| last_indexed | 2026-06-10T12:40:50.669Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2016 |
| publishDateRange | 2016 |
| publishDateSort | 2016 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/100319 Vector field histogram star obstacle avoidance system for multicopters Van Breda, Ruan Smit, Willie Stellenbosch University. Faculty of Engineering. Dept. of Mechanical and Mechatronic Engineering. Ultrasonics -- Sensors Robots -- Programming Multicopters Vector fields UCTD Radio detectors Thesis (MEng)--Stellenbosch University, 2016. ENGLISH ABSTRACT: In order to allow a multicopter to move about autonomously and detect and avoid obstacles in a two-dimensional plane, a prototype obstacle avoidance system, that implements the VFH* algorithm and uses a LIDAR sensor, was developed. The algorithm was coded in MATLAB and verified through simulations. Modifications were made to the VFH* algorithm to account for uncertainties with regard to the multicopter’s position. Thereafter, the obstacle avoidance system was successfully implemented in a test environment and managed to navigate a multicopter to its goal position for various obstacle configurations. AFRIKAANSE OPSOMMING: Ten einde ’n hommeltuig onafhanklik te laat rondbeweeg, terwyl dit versperrings in ’n twee-dimensionele vlak waarneem en ontwyk, is ’n prototipe hindernis vermydings-sisteem, wat die VVH* algoritme en ’n LIDAR sensor gebruik, ontwikkel. Die algoritme is in MATLAB gekodeer en deur simulasies bevestig. Veranderinge is aan die VVH* algoritme aangebring om vir onsekerhede ten opsigte van die hommeltuig se posisie voorsiening te maak. Daarna is die sisteem suksesvol in ’n toetsomgewing geïmplementeer en het dit die hommeltuig suksesvol deur verskeie konfigurasies van versperrings genavigeer. 2016-12-22T13:39:59Z 2016-12-22T13:39:59Z 2016-12 Thesis http://hdl.handle.net/10019.1/100319 en_ZA Stellenbosch University xiv, 110 pages : illustrations application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | Ultrasonics -- Sensors Robots -- Programming Multicopters Vector fields UCTD Radio detectors Van Breda, Ruan Vector field histogram star obstacle avoidance system for multicopters |
| title | Vector field histogram star obstacle avoidance system for multicopters |
| title_full | Vector field histogram star obstacle avoidance system for multicopters |
| title_fullStr | Vector field histogram star obstacle avoidance system for multicopters |
| title_full_unstemmed | Vector field histogram star obstacle avoidance system for multicopters |
| title_short | Vector field histogram star obstacle avoidance system for multicopters |
| title_sort | vector field histogram star obstacle avoidance system for multicopters |
| topic | Ultrasonics -- Sensors Robots -- Programming Multicopters Vector fields UCTD Radio detectors |
| url | http://hdl.handle.net/10019.1/100319 |
| work_keys_str_mv | AT vanbredaruan vectorfieldhistogramstarobstacleavoidancesystemformulticopters |