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Autonomous Guidance and Navigation of UAVs in 3D Confined Corridors by Combined Optical Flow, Inertial and Ultrasonic Sensor

Bagherzadeh, Amirreza | 2023

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 56658 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Saghafi, Fariborz
  7. Abstract:
  8. Inspection of confined corridors is one of the important and necessary topics in various industries, including mines, oil and gas industries. Human inspection is very time-consuming and expensive due to the difficulty of accessing these environment, and in some corridors, it is not possible to inspect at all. In this thesis, UAV guidance and navigation algorithms have been developed by using informations got from optical flow, inertial and ultrasonic sensors, so that the UAV can fly automatically inside the confined corridor without colliding the boundaries. At first, a model of the space around the corridor, UAV and its subsystems has been proposed so that we can use it to create a simulation environment for evaluation of the algorithms. In the next section, the method of processing information from optical flow is discussed, and in order to have a better processing scheme, a new quantity called “relative depth” has been proposed. Then, guidance, control and navigation inside the confined corridor by using the apparent depth and information of the ultrasonic sensor, is presented. Finally, the results of various UAV simulations inside different corridors and in different conditions are given. The sensitivity of the UAV performance to different variables is discussed and the performance of the UAV inside a complex corridor is assessed
  9. Keywords:
  10. Unmanned Aerial Vehicles (UAV) ; Guidance ; Control ; Navigation ; Optical Flow ; Extended Kalman Filter ; Confined Corridor ; Relative Depth

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