Ground Coordination with Unmanned Aerial Vehicle

Hyeung Ko, Purdue University

Abstract

The objective of this paper is to encircle the ground agents' contribution for multiple airplanes. A collision-free landing algorithm is proposed to perform minimization of the energy spent while hovering. The minimization is to find the largest fully-connected subgraph in an undirected cyclic graph. It is found by Mixed Integer Linear Programming followed by Dynamic Programming. Incoming airplanes are assigned to each node of the subgraph and guided without collision. A simulation is presented to show the minimized energy. For airplanes whose guidance is completed, their mission may be delivering a package. A holonomic vehicle is developed for automatic package receiving purpose. It is equipped with stereo-vision and 4 omnidirectional wheels. On top of the on-board vision algorithm, locating the target, estimating the state of the target, controlling the Unmanned Ground Vehicle are performed. Test results are shown to confirm that it is able to receive package.

Degree

M.S.A.A.

Advisors

Mou, Purdue University.

Subject Area

Aerospace engineering|Robotics

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