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Description

Title:Autonomous navigation and localization of a quadrotor mini-uav by landmarks in indoor environments
Author(s):Ahn, Young Min
Advisor(s):Sreenivas, Ramavarapu S.
Department / Program:Mechanical Sci & Engineering
Discipline:Mechanical Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:M.S.
Genre:Thesis
Subject(s):Autonomous navigation
Localization
Landmarks
Indoor
Quadrotor
Abstract:In this thesis, the problems of control, autonomous navigation, and localization in an indoor environment are considered for mini-UAV quadrotor. A commonly used localization methods such as GPS sensors or radar are strongly limited due to lack of signals in indoor. This thesis will present autonomous navigation by using vanishing point and inertial navigation methods. And indoor localization by using artificial landmarks in a known environment by utilizing vertical and horizontal cameras onboard of the quadrotor is proposed. The local data from the inertial measurement units onboard are combined with the proposed localization method.
Issue Date:2011-05-25
URI:http://hdl.handle.net/2142/24391
Rights Information:Copyright 2011 Young Min Ahn
Date Available in IDEALS:2011-05-25
2013-05-26
Date Deposited:2011-05


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