Control system design and vision based collision avoidance of multi-rotor UAV = 멀티-로터 무인항공기의 제어시스템 설계 및 영상 기반 충돌회피 기법 연구

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This thesis is focused on dynamic modeling, control system design and vision based collision avoidance for Multi-Rotor UAVs. Multi-Rotor UAVs are defined as the rotary-winged unmanned aerial vehicles with multiple number of rotors. These Multi-Rotor UAVs can be utilized in military situations such as surveillance and reconnaissance. Also, Multi-Rotor UAVs can be used in obtaining vision information from steep terrains or disastrous sites. In this thesis, Quad-Rotor, Tilt Tri-Rotor, and Coaxial Tri-Rotor models are introduced as well as their attitude and position stabilization simulation. Control system is designed based on PID autopilot and vision-based collision avoidance control technique. Additionally, Optical Flow method, which is one of the vision-based collision avoidance techniques, is introduced along with the depth map calculation, which compensates the distance calculation from the optical flow estimation. Integrating the Optical Flow and depth map calculation methods, so-called Reactive Collision Avoidance System is developed having synergetic effect from both the optical flow and the depth map calculations. Finally, Quad-Rotor UAV’s collision avoidance simulations in 3D virtual spaces are conducted.
Advisors
Tahk, Min-Jearesearcher탁민제researcher
Description
한국과학기술원 : 항공우주공학전공,
Publisher
한국과학기술원
Issue Date
2011
Identifier
467983/325007  / 020093314
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 항공우주공학전공, 2011.2, [ vii, 49 p ]

Keywords

Quad-Rotor; Tri-Rotor; Optical Flow; Depth Map; 쿼드-로터; 트라이-로터; Optical Flow; Depth Map; 영상기반 충돌회피; Vision-Based Collision Avoidance

URI
http://hdl.handle.net/10203/179708
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=467983&flag=dissertation
Appears in Collection
AE-Theses_Master(석사논문)
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