Date of Award:
8-2019
Document Type:
Thesis
Degree Name:
Master of Science (MS)
Department:
Electrical and Computer Engineering
Committee Chair(s)
Randall Christensen
Committee
Randall Christensen
Committee
Greg Droge
Committee
Jonathan Phillips
Abstract
In this work, research to develop algorithms for a package exchange maneuver between two quad-rotor aircraft is presented. First, the development of tools used for this research is discussed. Second, a controller is designed that synchronizes the flight paths and motion of two quad-rotor robots. The controller is used to guide a designated follower quad-rotor to follow a leader aircraft’s position and orientation. The follower aircraft is equipped with a simple mechanical manipulator to compensate for limitations in the aircrafts maneuverability. finally, a sensor architecture study for relative navigation of Unmanned Aerial Vehicles (UAV) is presented. The architecture study presents typical navigation solutions, considers each solution’s appropriateness for close-proximity missions, and compares performance.
Checksum
fce89672414bd4d737c346f934294d70
Recommended Citation
Smith, Trent P., "Full-Pose Estimation and Tracking Control for a Multi-Rotor Aircraft Package Exchange" (2019). All Graduate Theses and Dissertations, Spring 1920 to Summer 2023. 7515.
https://digitalcommons.usu.edu/etd/7515
Included in
Copyright for this work is retained by the student. If you have any questions regarding the inclusion of this work in the Digital Commons, please email us at .