Date of Award:

8-2019

Document Type:

Thesis

Degree Name:

Master of Science (MS)

Department:

Electrical and Computer Engineering

Advisor/Chair:

Randall Christensen

Co-Advisor/Chair:

Greg Droge

Third Advisor:

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.

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