Autonomous navigation and tracking of dynamic surface targets on-board a computationally impoverished aerial vehicle
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.
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| Other Authors: | |
| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2011
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| Online Access: | http://hdl.handle.net/1721.1/67801 |
| _version_ | 1811087197656317952 |
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| author | Selby, William Clayton |
| author2 | Daniela L. Rus. |
| author_facet | Daniela L. Rus. Selby, William Clayton |
| author_sort | Selby, William Clayton |
| collection | MIT |
| description | Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011. |
| first_indexed | 2024-09-23T13:41:36Z |
| format | Thesis |
| id | mit-1721.1/67801 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T13:41:36Z |
| publishDate | 2011 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/678012019-04-10T09:59:43Z Autonomous navigation and tracking of dynamic surface targets on-board a computationally impoverished aerial vehicle Selby, William Clayton Daniela L. Rus. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011. Cataloged from PDF version of thesis. Includes bibliographical references (p. 113-120). This thesis describes the development of an independent, on-board visual servoing system which allows a computationally impoverished aerial vehicle to autonomously identify and track a dynamic surface target. Image segmentation and target tracking algorithms are developed for the specific task of monitoring whales at sea. The computer vision algorithms' estimates prove to be accurate enough for quadrotor stabilization while being computationally fast enough to be processed on-board the platform. This differs from current techniques which require off-board processing of images for vehicle localization and control. The vision algorithm is evaluated on video footage to validate its performance and robustness. The quadrotor is then modeled to motivate and guide the development of Linear Quadratic Regulator (LQR) controllers for maneuvering the quadrotor. The controllers are tuned using a motion capture system which provides ground truth state measurements. The vision system is integrated into the control scheme to allow the quadrotor to track an iCreate. Additionally, an Extended Kalman Filter (EKF) fuses the vision system position estimates with attitude and acceleration measurements from an on-board Inertial Measurement Unit (IMU) to allow the quadrotor to track a moving target without external localization. by William Clayton Selby. S.M. 2011-12-19T18:53:04Z 2011-12-19T18:53:04Z 2011 2011 Thesis http://hdl.handle.net/1721.1/67801 767828753 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 120 p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Selby, William Clayton Autonomous navigation and tracking of dynamic surface targets on-board a computationally impoverished aerial vehicle |
| title | Autonomous navigation and tracking of dynamic surface targets on-board a computationally impoverished aerial vehicle |
| title_full | Autonomous navigation and tracking of dynamic surface targets on-board a computationally impoverished aerial vehicle |
| title_fullStr | Autonomous navigation and tracking of dynamic surface targets on-board a computationally impoverished aerial vehicle |
| title_full_unstemmed | Autonomous navigation and tracking of dynamic surface targets on-board a computationally impoverished aerial vehicle |
| title_short | Autonomous navigation and tracking of dynamic surface targets on-board a computationally impoverished aerial vehicle |
| title_sort | autonomous navigation and tracking of dynamic surface targets on board a computationally impoverished aerial vehicle |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/67801 |
| work_keys_str_mv | AT selbywilliamclayton autonomousnavigationandtrackingofdynamicsurfacetargetsonboardacomputationallyimpoverishedaerialvehicle |