dc.contributor.advisor | Johansen, Tor Arne | |
dc.contributor.advisor | Klausen, Kristian | |
dc.contributor.author | Bjelland, Vetle Andre | |
dc.date.accessioned | 2019-09-11T11:44:05Z | |
dc.date.created | 2018-06-04 | |
dc.date.issued | 2018 | |
dc.identifier | ntnudaim:18638 | |
dc.identifier.uri | http://hdl.handle.net/11250/2616150 | |
dc.description.abstract | During the last couple of years, the goal of using unmanned aerial vehicles (UAV)
for inspection purposes has become within reach. This thesis considers the different
algorithms for implementing a high level controller for an anti-collision system
for a multirotor inspection drone operating inside a shipping tank. The desired platform
for this thesis is a quadcopter UAV with six on-board radar sensor, providing
environmental knowledge. A literature review of existing collision avoidance algorithms
is performed to consider which ones that are suited for tank inspection. The
linearized dynamic quadcopter mathematical model is derived and simulated with low
level PID-control and high level collision avoidance in a self-developed MATLAB simulator.
The methodology of the algorithms implemented is explained and divided into
two groups; those considering the environment to be known (global), and the ones
continuously sensing the environment from the on-board radar sensors (local). The
Null-Space Based (NSB) behavioral control algorithm is tested as a global approach.
A self-developed reactive logic algorithm and the Velocity Obstacle (VO) algorithm
are tested as local approaches for collision avoidance. The results yielded from the
different algorithms simulations show successful inspection with room for improvement
on the implemented collision avoidance. The remarks of the simulation results
are discussed and it is suggested to extend the self-developed reactive logic algorithm
for future work. | en |
dc.language | eng | |
dc.publisher | NTNU | |
dc.subject | Kybernetikk og robotikk, Navigasjon og fartøystyring | en |
dc.title | Collision Avoidance for Multirotor Inspection | en |
dc.type | Master thesis | en |
dc.source.pagenumber | 102 | |
dc.contributor.department | Norges teknisk-naturvitenskapelige universitet, Fakultet for informasjonsteknologi og elektroteknikk,Institutt for teknisk kybernetikk | nb_NO |
dc.date.embargoenddate | 2020-06-04 | |