Unmanned Quadrotor

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Azarmi Gilan, Ali | 2015

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 47109 (05)
University: Sharif University of Technology
Department: Electrical Engineering
Advisor(s): Bagheri Shouraki, Saeed
Abstract:
In this thesis a complete Autonomous system is designed and implemented, in which the motion of quadrotor is controlled based on visual feedback for achieve to a desired coordinate in the 3D space. We focus on developing a cost effective and easy-to-setup vision system. Active markers were finely designed to improve visibility under various perspective as well as robustness towards disturbances in the image-based pose estimation. Moreover, a path generator is implemented with A* algorithm to suggest shortest path with abstackle avoidance option to traverse the path. In next step we tackle to design a wifi interface to communicate with quadrotor. In this step we use a HM-TR serial wifi module that transmit our commands to quadrotor to move. It’s necessary to mentioned that we use a controlled and stable quadrotor that controlled with self-organising-controller that derives quadrotor dynamic rules by itself
Keywords:
Machine Vision ; Unmanned Aircrafts ; A Star Search Method ; Path Finding ; Stereo Vision ; Quadrotor Aircraft ; Autonomous Navigation

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