東華大學圖書館 |

Language: English

Help

回圖書館首頁

手機版館藏查詢

Back

Switch To: Labeled | MARC Mode | ISBD

Linked to FindBook

Google Book

Amazon

博客來

UAV Path Planning and Multi-Modal Localization for Mapping in a Subterranean Environment.

Record Type:	Electronic resources : Monograph/item
Title/Author:	UAV Path Planning and Multi-Modal Localization for Mapping in a Subterranean Environment./
Author:	Samarakoon, Kieren Yoshiki.
Description:	1 online resource (69 pages)
Notes:	Source: Masters Abstracts International, Volume: 84-05.
Contained By:	Masters Abstracts International84-05.
Subject:	Mines. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=29731035click for full text (PQDT)
ISBN:	9798352980552

UAV Path Planning and Multi-Modal Localization for Mapping in a Subterranean Environment.
Samarakoon, Kieren Yoshiki.

UAV Path Planning and Multi-Modal Localization for Mapping in a Subterranean Environment. - 1 online resource (69 pages)

Source: Masters Abstracts International, Volume: 84-05.

Thesis (M.Sc.)--West Virginia University, 2022.

Includes bibliographical references

The use of Unmanned Aerial Vehicles (UAVs), especially quadcopters, have become popular in academia and industry due to their small size and maneuverability. These UAVs can be programmed to autonomously execute missions that are usually difficult and risky for humans, such as subterranean exploration, infrastructure surveying, and even disaster response. However, inaccessible and remote environments pose a challenge in terms of navigation as they often lack access to Global Navigation Satellite System (GNSS) connections and lack features. To address these challenges, UAVs are equipped with multiple sensors to acquire different types of data. These include range, acceleration, and even images, which are fused to estimate a localization solution. The Autonomous Robotic Early Warning System for Underground Stone Mining Safety project, sponsored by Alpha Foundation, is conducted within the Statler College at West Virginia University (WVU). The project aims to map walls and pillars within a mine to analyze its structural integrity and safety. This thesis investigates the implementation of a path planning strategy to optimize the coverage of a wall and also the use of an error state Extended Kalman Filter (EKF) for sensor fusion to perform Simultaneous Localization and Mapping (SLAM). The experiments were carried out both in simulated and real world environments. In these experiments, the UAV was equipped with an Inertial Measurement Unit (IMU), laser altimeter, Ultra-Wideband (UWB) module (for ranging data), LiDAR for mapping, and an RGB-D camera to provide a Visual Odometry (VO) solution. In the simulation, the 3D reconstruction and odometry was compared to the ground truth, whereas the real experiment provided further insight into the strategy's feasibility.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2023

Mode of access: World Wide Web

ISBN: 9798352980552Subjects--Topical Terms:

3693480
Mines.
Index Terms--Genre/Form:

542853
Electronic books.

UAV Path Planning and Multi-Modal Localization for Mapping in a Subterranean Environment.
LDR:03119nmm a2200373K 4500 001 2356804
005 20230619080117.5
006 m o d
007 cr mn ---uuuuu
008 241011s2022 xx obm 000 0 eng d
020 $a 9798352980552
035 $a (MiAaPQ)AAI29731035
035 $a (MiAaPQ)WVirginia12337
035 $a AAI29731035
040 $a MiAaPQ $b eng $c MiAaPQ $d NTU
100 1 $a Samarakoon, Kieren Yoshiki. $3 3697308
245 1 0 $a UAV Path Planning and Multi-Modal Localization for Mapping in a Subterranean Environment.
264 0 $c 2022
300 $a 1 online resource (69 pages)
336 $a text $b txt $2 rdacontent
337 $a computer $b c $2 rdamedia
338 $a online resource $b cr $2 rdacarrier
500 $a Source: Masters Abstracts International, Volume: 84-05.
500 $a Advisor: Gross, Jason N. ; Pereira, Guilherme A.S. ; Gu, Yu ; Tulu, Ihsan Berk.
502 $a Thesis (M.Sc.)--West Virginia University, 2022.
504 $a Includes bibliographical references
520 $a The use of Unmanned Aerial Vehicles (UAVs), especially quadcopters, have become popular in academia and industry due to their small size and maneuverability. These UAVs can be programmed to autonomously execute missions that are usually difficult and risky for humans, such as subterranean exploration, infrastructure surveying, and even disaster response. However, inaccessible and remote environments pose a challenge in terms of navigation as they often lack access to Global Navigation Satellite System (GNSS) connections and lack features. To address these challenges, UAVs are equipped with multiple sensors to acquire different types of data. These include range, acceleration, and even images, which are fused to estimate a localization solution. The Autonomous Robotic Early Warning System for Underground Stone Mining Safety project, sponsored by Alpha Foundation, is conducted within the Statler College at West Virginia University (WVU). The project aims to map walls and pillars within a mine to analyze its structural integrity and safety. This thesis investigates the implementation of a path planning strategy to optimize the coverage of a wall and also the use of an error state Extended Kalman Filter (EKF) for sensor fusion to perform Simultaneous Localization and Mapping (SLAM). The experiments were carried out both in simulated and real world environments. In these experiments, the UAV was equipped with an Inertial Measurement Unit (IMU), laser altimeter, Ultra-Wideband (UWB) module (for ranging data), LiDAR for mapping, and an RGB-D camera to provide a Visual Odometry (VO) solution. In the simulation, the 3D reconstruction and odometry was compared to the ground truth, whereas the real experiment provided further insight into the strategy's feasibility.
533 $a Electronic reproduction. $b Ann Arbor, Mich. : $c ProQuest, $d 2023
538 $a Mode of access: World Wide Web
650 4 $a Mines. $3 3693480
650 4 $a Cameras. $3 524039
650 4 $a Emergency preparedness. $3 3544045
650 4 $a Planning. $3 552734
650 4 $a Sensors. $3 3549539
650 4 $a Maps. $3 544078
650 4 $a Robots. $3 529507
650 4 $a Mapping. $3 3355992
650 4 $a Emergency communications systems. $3 3694831
650 4 $a Unmanned aerial vehicles. $3 3560267
650 4 $a Localization. $3 3560711
650 4 $a Vehicles. $3 2145288
650 4 $a Aerospace engineering. $3 1002622
650 4 $a Mining. $3 3544442
650 4 $a Public administration. $3 531287
650 4 $a Robotics. $3 519753
650 4 $a Transportation. $3 555912
655 7 $a Electronic books. $2 lcsh $3 542853
690 $a 0538
690 $a 0551
690 $a 0617
690 $a 0771
690 $a 0709
710 2 $a ProQuest Information and Learning Co. $3 783688
710 2 $a West Virginia University. $3 1017532
773 0 $t Masters Abstracts International $g 84-05.
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=29731035 $z click for full text (PQDT)