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Multi-rotors Control in Windy Conditions and Obstacle Avoidance

Alireza Mirshamsi | 2024

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  1. Type of Document: Ph.D. Dissertation
  2. Language: Farsi
  3. Document No: 57848 (05)
  4. University: Sharif University of Technology
  5. Department: Electrical Engineering
  6. Advisor(s): Nobakhti, Amin
  7. Abstract:
  8. In recent years, autonomous unmanned aerial vehicles (UAVs) have attracted considerable amount of interest because of a wide area of applications and a lot of advantages. UAVs have been extensively used for military operations that include tracking, surveillance, active engagement with weapons and airborne data acquisition. UAVs are also in demand commercially due to their advantages in comparison to manned vehicles. These advantages include lower manufacturing and operating costs, flexibility in configuration depending on customer request and not risking the pilot on demanding missions. Safety and efficiency are crucial factors in drones, so in this thesis, these issues are considered. Wind gust and disturbance rejection problem is important in drones and there are many researches on this topic. In the past investigations, the simultaneous existence of input and output delay, external disturbances and uncertainty of the drone parameters and most importantly, the boundedness of the drone actuators have not been taken into account. In this thesis, these issues are considered and the stability of the system in the presence of all the mentioned issues is proved. Moreover, the proposed method has been implemented on a laboratory platform and its superiority over existing approaches has been shown in practice. The obstacle or collision avoidance problem is a major issue in drones. In this thesis, a new three-dimensional path planning approach with obstacle avoidance for UAVs is proposed. The aim is to provide a computationally-fast on-board sub-optimal solution for collision-free path planning in static environments. The optimal 3D path is an NP (non-deterministic polynomial-time) hard problem which may be solved numerically by global optimization algorithms such as the Particle Swarm Optimization (PSO). Application of PSO to the 3D path planning class of problems faces typical challenges such slow convergence rate. It is shown that the performance may be improved markedly by implementing a novel parallel approach and incorporation of new termination conditions
  9. Keywords:
  10. Multirotor Control System ; Obstacle Avoidance ; Disturbance Rejection ; Guidance, Navigation, and Control (GNC)System ; Unmanned Aerial Vehicles (UAV)

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