Sensor integration for implementation of obstacle avoidance in an autonomous helicopter system

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Title: Sensor integration for implementation of obstacle avoidance in an autonomous helicopter system
Author: Mentzer, Christopher Isaac
Abstract: This thesis describes the development of the Texas A &M University Autonomous Helicopter System and the integration of obstacle avoidance capabilities into that system . The helicopter system , composed of a Bergen Observer helicopter and a Rotomotion Autonomous Flight Control System (AFCS ) , was developed as a platform to support the development of the obstacle avoidance system through integration of sensors and onboard processing capabilities . The system has proven in various flight tests that it has the capability to autonomously hover and fly to user defined GPS waypoints . The obstacle avoidance algorithm has been proven in simulations involving an interface with the Rotomotion AFCS and the flight simulation software they created to facilitate the development of that system . The helicopter has also demonstrated appropriate responses to sensor input commensurate with the obstacle avoidance algorithm . Full avoidance tests were unable to be performed due to hardware malfunctions inherent in the obstacle avoidance sensors .
URI: http : / /hdl .handle .net /1969 .1 /3874
Date: 2006-08-16

Citation

Sensor integration for implementation of obstacle avoidance in an autonomous helicopter system. Available electronically from http : / /hdl .handle .net /1969 .1 /3874 .

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