Lokalizacija letjelice pomoću ugrađenih sonara i kamere

undergraduate thesis

• Title (english): Quadrotor localization by on-board camera and sonars
• Author: Niko Višnjić
• Mentor: Stjepan Bogdan (mentor)
• Committee member: Stjepan Bogdan (predsjednik povjerenstva)
• Committee member: Matko Orsag (član povjerenstva)
• Committee member: Tomislav Haus (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2014-09-17, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Kombinacijom cjenovno pristupačne leteće platforme i adekvatnih senzorskih dodataka, uspješno smo prenamijenili platformu u autonomni leteći sustav sposoban za izvođenje većeg broja zahtjevnijih autonomnih zadataka.
Tema ovog završnog rada je ispitivanje mogućnosti i ograničenja korištenja dostupne leteće platforme kao autonomnog letećeg sustava. Koristeći ugrađene senzorske sustave i ugrađivanjem dodatnih sonara na samu letjelicu, moguće je postići zavidne karakteristike u letu na osnovi lako dostupne eksperimentalne platforme.
Primjene takvog sustava uključuju istraživanja na području mapiranja i lokalizacije (eng. SLAM - simultaneous localization and mapping), planiranja putanje, izbjegavanja prepreka te mnogih drugih aplikacija letećih vozila.

Abstract (english)

By combining a low-cost aerial vehicle and an array of sensory inputs in one light-weight package, we have succeeded in constructing an autonomous vehicle capable of executing a number of advanced aerial routines.
The basis of this bachelor thesis is to examine the possibilities and limitations of using a low-cost aerial platform as an autonomous flight system. Using the built in sensory systems and adding a number of additional sonar sensors, it is possible to achieve adequate autonomous flight characteristics from a readily available experimental platform.
Applications of such a system include research in SLAM, trajectory planning, obstacle avoidance and numerous other aerial vehicle applications.

• Keywords: bespilotna letjelica; autonoman sistem; lokalizacija u prostoru; sonar senzori; mapiranje prostora
• Keywords (english): UAV; quadrotor; autonomous system; localization; sonar sensors; area mapping
• Language: croatian
• URN:NBN: urn:nbn:hr:168:264012
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2018-02-06 07:32:11