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Real-Time Autonomous Obstacle Avoida...

Owlia, Shahboddin.

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Real-Time Autonomous Obstacle Avoidance for Low-Altitude Fixed-Wing Aircraft.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Real-Time Autonomous Obstacle Avoidance for Low-Altitude Fixed-Wing Aircraft./
作者:	Owlia, Shahboddin.
面頁冊數:	138 p.
附註:	Source: Masters Abstracts International, Volume: 52-01.
Contained By:	Masters Abstracts International52-01(E).
標題:	Aerospace engineering. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MR94276
ISBN:	9780494942765

Real-Time Autonomous Obstacle Avoidance for Low-Altitude Fixed-Wing Aircraft.
Owlia, Shahboddin.

Real-Time Autonomous Obstacle Avoidance for Low-Altitude Fixed-Wing Aircraft. - 138 p.

Source: Masters Abstracts International, Volume: 52-01.

Thesis (M.A.Sc.)--Carleton University (Canada), 2013.

The GeoSurv II is an Unmanned Aerial Vehicle (UAV) being developed by Carleton University and Sander Geophysics. This thesis is in support of the GeoSurv II project.

ISBN: 9780494942765Subjects--Topical Terms:

1002622
Aerospace engineering.

Real-Time Autonomous Obstacle Avoidance for Low-Altitude Fixed-Wing Aircraft.
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245 1 0 $a Real-Time Autonomous Obstacle Avoidance for Low-Altitude Fixed-Wing Aircraft.
300 $a 138 p.
500 $a Source: Masters Abstracts International, Volume: 52-01.
502 $a Thesis (M.A.Sc.)--Carleton University (Canada), 2013.
520 $a The GeoSurv II is an Unmanned Aerial Vehicle (UAV) being developed by Carleton University and Sander Geophysics. This thesis is in support of the GeoSurv II project.
520 $a The objective of the GeoSurv II project is to create a fully autonomous UAV capable of performing geophysical surveys. In order to achieve this level of autonomy, the UAV, which due to the nature of its surveys flies at low altitude, must be able to avoid potential obstacles such as trees, powerlines, telecommunication towers, etc. Developing a method to avoid these obstacles is the objective of this thesis.
520 $a The literature is rich in methods for trajectory planning and mid-air collision avoidance with other aircraft. In contrast, in this thesis, a method for avoiding static obstacles that are not known a priori is developed.
520 $a The potential flow theory and panel method are borrowed from fluid mechanics and are employed to generate evasive maneuvers when obstacles are encountered. By means of appropriate modelling of obstacles, the aircraft's constraints are taken into account such that the evasive maneuvers are feasible for the UAV. Moreover, the method is developed with consideration of the limitations of obstacle detection in GeoSurv II.
520 $a Due to the unavailability of the GeoSurv II aircraft, and the lack of a complete model for GeoSurv II, the method developed is implemented on the non-linear model of the Aerosonde UAV. The Aerosonde model is then subjected to various obstacle scenarios and it is seen that the UAV successfully avoids the obstacles.
590 $a School code: 0040.
650 4 $a Aerospace engineering. $3 1002622
650 4 $a Systems science. $3 3168411
650 4 $a Robotics. $3 519753
690 $a 0538
690 $a 0790
690 $a 0771
710 2 $a Carleton University (Canada). $3 1018407
773 0 $t Masters Abstracts International $g 52-01(E).
790 $a 0040
791 $a M.A.Sc.
792 $a 2013
793 $a English
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