Design and Implementation of a Search and Rescue System on a Quadrotor

Please enable javascript in your browser.

Rahimi, Mohammad | 2019

565 Viewed

Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 52018 (05)
University: Sharif University of Technology
Department: Electrical Engineering
Advisor(s): Haeri, Mohammad
Abstract:
In this work, we try to develop a method for searching for an object which is known to us and also returning it back where the search was begun, through shortest possible path. The surrounding environment was assumed unknown and only a stereo camera and an IMU exist to work with. The proposed method was developed in Linux using GPU and with C++ language and also achieved 58 fps. Parallel programming was utilized in different parts of the algorithm and obstacle avoidance is guarranteed. The surrounding environment and obstacles are assumed changing over the time
Keywords:
Machine Vision ; Quadrotor Robot Control ; Optimal Routing ; Depth Sensing ; Three Dimensional Reconstruction ; Path Planning ; Position Tracking

No TOC