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Waypoint navigation with obstacle avoidance for MAV's

Jansen, R. (2016) Waypoint navigation with obstacle avoidance for MAV's.

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Abstract:This assignment is part of the European Robotics Challenge in which team LEO has participated. Inspection of large plants and infrastructures done by humans takes time and can be dangerous. Inspection sites can be hard to reach. The use of MAV's has become popular over the last years and has made these kinds of inspections easier. However, controlling an MAV requires a skilled pilot. The goal of the challenge is to design a system for an MAV that is equipped with an inertial measurement unit (IMU) and a stereocamera so that an inspection expert will be able to do the inspection from the ground without the need of piloting skills. The goal of this assignment is to write an algorithm that can be used to plan a path for an MAV and that is capable of planning the fastest route from its current location to a certain waypoint while avoiding any obstacles. This algorithm is tested in a simulation environment. Commonly used algorithms are compared. As a result, an algorithm based on the A-star algorithm is designed to find the shortest path between the current location and a target waypoint while avoiding obstacles. Certain alterations and improvements have been necessary.
Item Type:Essay (Bachelor)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:50 technical science in general, 54 computer science
Programme:Electrical Engineering BSc (56953)
Link to this item:http://purl.utwente.nl/essays/71230
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