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Title:
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Sensor integration for implementation of obstacle avoidance in an autonomous helicopter system |
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Author:
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Mentzer, Christopher Isaac |
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Description:
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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 . |
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URI:
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http : / /hdl .handle .net /1969 .1 /3874
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Date:
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2013-03-12 |