Date of Award:
Master of Science (MS)
Electrical and Computer Engineering
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.
Smith, Trent P., "Full-Pose Estimation and Tracking Control for a Multi-Rotor Aircraft Package Exchange" (2019). All Graduate Theses and Dissertations. 7515.
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