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Collision Avoidance for Multirotor Inspection

Bjelland, Vetle Andre
Master thesis
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URI
http://hdl.handle.net/11250/2616150
Date
2018
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  • Institutt for teknisk kybernetikk [2190]
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.
Publisher
NTNU

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