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Obstacle avoidance with a multicopter in a dynamic two-dimensional environment
Thesis (MEng)--Stellenbosch University, 2017.
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| Format: | Thesis |
| Language: | en_ZA |
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2017
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| _version_ | 1867613918418960384 |
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| access_status_str | Open Access |
| author | Coetzee, Jacobus Stephanus |
| author2 | Smit, W. J. |
| author_browse | Coetzee, Jacobus Stephanus Smit, W. J. |
| author_facet | Smit, W. J. Coetzee, Jacobus Stephanus |
| author_sort | Coetzee, Jacobus Stephanus |
| collection | Thesis |
| description | Thesis (MEng)--Stellenbosch University, 2017. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/101065 |
| institution | Stellenbosch University (South Africa) |
| language | en_ZA |
| last_indexed | 2026-06-10T12:43:46.817Z |
| license_str | Not specified — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2017 |
| publishDateRange | 2017 |
| publishDateSort | 2017 |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/101065 Obstacle avoidance with a multicopter in a dynamic two-dimensional environment Coetzee, Jacobus Stephanus Smit, W. J. Stellenbosch University. Faculty of Engineering. Dept. of Mechanical and Mechatronic Engineering. Solar power plants -- Inspection Obstacle avoidance Dynamical systems Proximity spaces -- Flight testing UCTD Thesis (MEng)--Stellenbosch University, 2017. ENGLISH 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. AFRIKAANSE 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. 2017-02-21T09:57:55Z 2017-03-29T12:04:06Z 2017-02-21T09:57:55Z 2017-03-29T12:04:06Z 2017-03 Thesis http://hdl.handle.net/10019.1/101065 en_ZA 123 pages : illustrations application/pdf |
| spellingShingle | Solar power plants -- Inspection Obstacle avoidance Dynamical systems Proximity spaces -- Flight testing UCTD Coetzee, Jacobus Stephanus Obstacle avoidance with a multicopter in a dynamic two-dimensional environment |
| title | Obstacle avoidance with a multicopter in a dynamic two-dimensional environment |
| title_full | Obstacle avoidance with a multicopter in a dynamic two-dimensional environment |
| title_fullStr | Obstacle avoidance with a multicopter in a dynamic two-dimensional environment |
| title_full_unstemmed | Obstacle avoidance with a multicopter in a dynamic two-dimensional environment |
| title_short | Obstacle avoidance with a multicopter in a dynamic two-dimensional environment |
| title_sort | obstacle avoidance with a multicopter in a dynamic two dimensional environment |
| topic | Solar power plants -- Inspection Obstacle avoidance Dynamical systems Proximity spaces -- Flight testing UCTD |
| url | http://hdl.handle.net/10019.1/101065 |
| work_keys_str_mv | AT coetzeejacobusstephanus obstacleavoidancewithamulticopterinadynamictwodimensionalenvironment |