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Keyboard Based Robust Remote Operation of UAV in GPS-Denied and Obstacle Rich Environment

Kashid, Sujeet
http://orcid.org/0009-0008-8756-6846
http://rave.ohiolink.edu/etdc/view?acc_num=ucin171291830726871

Abstract Details

2024, MS, University of Cincinnati, Engineering and Applied Science: Mechanical Engineering.
Unmanned Aerial Vehicles (UAVs) have seen a rise in applications to various fields. With plenty of algorithms to support automation in UAV flights, Global Positioning System (GPS) is still the major source of position estimation. This has limited the application of UAVs to areas where GPS signal is available and strong. Thus, some other method of position estimation for the UAV is required to expand the UAV application to GPS-denied areas. Moreover, when an operator is piloting a UAV from a remote location, the operator is solely relying on the camera feed coming from the UAV to move the UAV. This camera feed gives a limited field of view of the environment, and the human operator may accidentally run the UAV into an obstacle. In this research, a method of using Hector SLAM for performing position estimation of the UAV in a GPS-denied indoor environment is presented. The Hector SLAM uses a 2D LiDAR mounted on top of the quadcopter to scan the unknown environment. Furthermore, to empower the UAV to autonomously avoid obstacles, an algorithm using Artificial Potential Field method is developed in this thesis which maneuvers the UAV away from obstacles while being piloted by a human operator. The system is developed using Robot Operating System (ROS) and PX4 autopilot. Two different ways, setpoints and attitude commands, of operating the UAV using a keyboard are implemented and compared. The algorithm has been tested in Gazebo Classic simulator and its performance is evaluated.
Manish Kumar, Ph.D. (Committee Chair)
David Thompson, Ph.D. (Committee Member)
Janet Jiaxiang Dong, Ph.D. (Committee Member)
78 p.
Mechanical Engineering
UAV; GPS-denied; Hector SLAM with 2D LiDAR; Artificial Potential Field Obstacle Avoidance; PX4 and ROS; human operation using keyboard

Recommended Citations

Citations

  • Kashid, S. (2024). Keyboard Based Robust Remote Operation of UAV in GPS-Denied and Obstacle Rich Environment [Master's thesis, University of Cincinnati]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ucin171291830726871

    APA Style (7th edition)

  • Kashid, Sujeet. Keyboard Based Robust Remote Operation of UAV in GPS-Denied and Obstacle Rich Environment. 2024. University of Cincinnati, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ucin171291830726871.

    MLA Style (8th edition)

  • Kashid, Sujeet. "Keyboard Based Robust Remote Operation of UAV in GPS-Denied and Obstacle Rich Environment." Master's thesis, University of Cincinnati, 2024. http://rave.ohiolink.edu/etdc/view?acc_num=ucin171291830726871

    Chicago Manual of Style (17th edition)

ucin171291830726871
69
© 2024, all rights reserved.
This open access ETD is published by University of Cincinnati and OhioLINK.