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| Title | Vision-Based Control and Flight Optimization of a Rotorcraft UAV |
| Document Type | Thesis |
| Keywords | Computer Vision, Real Time, Rotorcraft, Helicopter, UAV |
| Abstract | A Rotorcraft UAV provides an ideal experimental platform for vision-based navigation. This thesis describes the flight tests of the US Army PALACE pro ject, which implements Moravec™s pseudo-normalized correlation tracking algorithm. The tracker uses the movement of the landing site in the camera, a laser range, and the aircraft attitude from an IMU to estimate the relative motion of the UAV. The position estimate functions as a GPS equivalent to enable the rotorcraft to maneuver without the aid of GPS. Flight tests were performed with obstacles and over concrete, asphalt, and grass in daylight conditions with a safe landing area determined by a separate method. The tracking algorithm and position estimation performance are compared to GPS. Accurate time synchronization of the inputs to the position estimation algorithm directly affect the closed-loop stability of the system, proportional with altitude. By identifying the frequency response of each input and adding filters to delay some of the inputs, the closed-loop system maintains stable flight above 18 m above ground, where the system was unstable without the additional filters. |
| Author | Hubbard, David Christian 1979- |
| Department | Computer Science |
| Date Submitted | 2007-06-04 |
| Format | application:pdf |
| URL | http://contentdm.lib.byu.edu/ETD/image/etd1865.pdf |
| Language | english |
| Copyright Statement | I hereby certify that, if appropriate, I have obtained and attached hereto a written permission statement from the owner(s) of each third party copyrighted matter to be included in my thesis, dissertation, or project report, and specifically allowing distribution as specified below. I certify that the version I submitted is the same as that approved by my advisory committee. I hereby grant to Brigham Young University and its agents the non-exclusive license to archive and make accessible, under the conditions specified below, my thesis, dissertation, or project report in whole or in part in all forms of media, now or hereafter known. I retain all other ownership rights to the copyright of the thesis, dissertation, or project report. I also retain the right to use in future works (such as articles or books) all or part of this thesis, dissertation, or project report. |
| Display Title | Vision-Based Control and Flight Optimization of a Rotorcraft UAV |
| Defense Date | 2007-05-24 |
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