Autonomous navigation and localization of a quadrotor mini-uav by landmarks in indoor environments
Ahn, Young Min
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https://hdl.handle.net/2142/24391
Description
Title
Autonomous navigation and localization of a quadrotor mini-uav by landmarks in indoor environments
Author(s)
Ahn, Young Min
Issue Date
2011-05-25T14:36:52Z
Director of Research (if dissertation) or Advisor (if thesis)
Sreenivas, Ramavarapu S.
Department of Study
Mechanical Sci & Engineering
Discipline
Mechanical Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(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.
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