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Motion planning algorithms for autonomous navigation for a rotary-wing UAV
Thesis (MScEng)--Stellenbosch University, 2013.
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| Format: | Thesis |
| Language: | en_ZA |
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Stellenbosch : Stellenbosch University
2013
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| _version_ | 1867613870133084161 |
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| access_status_str | Open Access |
| author | Beyers, Coenraad Johannes |
| author2 | Van Daalen, C. E. |
| author_browse | Beyers, Coenraad Johannes Van Daalen, C. E. |
| author_facet | Van Daalen, C. E. Beyers, Coenraad Johannes |
| author_sort | Beyers, Coenraad Johannes |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description | Thesis (MScEng)--Stellenbosch University, 2013. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/80231 |
| institution | Stellenbosch University (South Africa) |
| language | en_ZA |
| last_indexed | 2026-06-10T12:43:00.621Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2013 |
| publishDateRange | 2013 |
| publishDateSort | 2013 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/80231 Motion planning algorithms for autonomous navigation for a rotary-wing UAV Beyers, Coenraad Johannes Van Daalen, C. E. Engelbrecht, J. A. A. Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering. Motion planning algorithms Autonomous navigation Rotary-wing UAV Unmanned aerial vehicle Dissertations -- Electronic engineering Theses -- Electronic engineering Drone aircraft Thesis (MScEng)--Stellenbosch University, 2013. ENGLISH ABSTRACT: This project concerns motion planning for a rotary wing UAV, where vehicle controllers are already in place, and map data is readily available to a collision detection module. In broad terms, the goal of the motion planning algorithm is to provide a safe (i.e. obstacle free) flight path between an initial- and goal waypoint. This project looks at two specific motion planning algorithms, the Rapidly Exploring Random Tree (or RRT*), and the Probabilistic Roadmap Method (or PRM). The primary focus of this project is learning how these algorithms behave in specific environments and an in depth analysis is done on their differences. A secondary focus is the execution of planned paths via a Simulink simulation and lastly, this project also looks at the effect of path replanning. The work done in this project enables a rotary wing UAV to autonomously navigate an uncertain, dynamic and cluttered environment. The work also provides insight into the choice of an algorithm for a given environment: knowing which algorithm performs better can save valuable processing time and will make the entire system more responsive. AFRIKAANSE OPSOMMING: ’n Tipiese vliegstuuroutomaat is daartoe in staat om ’n onbemande lugvaartvoertuig (UAV) so te stuur dat ’n stel gedefinieerde punte gevolg word. Die punte moet egter vooraf beplan word, en indien enige verandering nodig is (bv. as gevolg van veranderinge in die omgewing) is dit nodig dat ’n menslike operateur betrokke moet raak. Vir voertuie om ten volle outonoom te kan navigeer, moet die voertuig in staat wees om te kan reageer op veranderende situasies. Vir hierdie doel word kinodinamiese beplanningsalgoritmes en konflikdeteksiemetodes gebruik. Hierdie projek behels kinodinamiese beplanningsalgoritmes vir ’n onbemande helikopter, waar die beheerders vir die voertuig reeds in plek is, en omgewingsdata beskikbaar is vir ’n konflikdeteksie-module. In breë terme is die doel van die kinodinamiese beplanningsalgoritme om ’n veilige (d.w.s ’n konflikvrye) vlugpad tussen ’n begin- en eindpunt te vind. Hierdie projek kyk na twee spesifieke kinodinamiese beplanningsalgoritmes, die “Rapidly exploring Random Tree*” (of RRT*), en die “Probabilistic Roadmap Method” (of PRM). Die primêre fokus van hierdie projek is om die gedrag van hierdie algoritmes in spesifieke omgewings te analiseer en ’n volledige analise te doen op hul verskille. ’n Sekondêre fokus is die uitvoering van ’n beplande vlugpad d.m.v ’n Simulink-simulasie, en laastens kyk hierdie projek ook na die effek van padherbeplanning. Die werk wat gedoen is in hierdie projek stel ’n onbemande helikopter in staat om outonoom te navigeer in ’n onsekere, dinamiese en besige omgewing. Die werk bied ook insig in die keuse van ’n algoritme vir ’n gegewe omgewing: om te weet watter algoritme beter uitvoertye het kan waardevolle verwerkingstyd bespaar, en verseker dat die hele stelsel vinniger kan reageer. 2013-02-22T13:20:14Z 2013-03-15T07:41:16Z 2013-02-22T13:20:14Z 2013-03-15T07:41:16Z 2013-03 Thesis http://hdl.handle.net/10019.1/80231 en_ZA Stellenbosch University 111 p. : ill. application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | Motion planning algorithms Autonomous navigation Rotary-wing UAV Unmanned aerial vehicle Dissertations -- Electronic engineering Theses -- Electronic engineering Drone aircraft Beyers, Coenraad Johannes Motion planning algorithms for autonomous navigation for a rotary-wing UAV |
| title | Motion planning algorithms for autonomous navigation for a rotary-wing UAV |
| title_full | Motion planning algorithms for autonomous navigation for a rotary-wing UAV |
| title_fullStr | Motion planning algorithms for autonomous navigation for a rotary-wing UAV |
| title_full_unstemmed | Motion planning algorithms for autonomous navigation for a rotary-wing UAV |
| title_short | Motion planning algorithms for autonomous navigation for a rotary-wing UAV |
| title_sort | motion planning algorithms for autonomous navigation for a rotary wing uav |
| topic | Motion planning algorithms Autonomous navigation Rotary-wing UAV Unmanned aerial vehicle Dissertations -- Electronic engineering Theses -- Electronic engineering Drone aircraft |
| url | http://hdl.handle.net/10019.1/80231 |
| work_keys_str_mv | AT beyerscoenraadjohannes motionplanningalgorithmsforautonomousnavigationforarotarywinguav |