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Háskólinn í Reykjavík > Tæknisvið / School of Technology > MSc Tölvunarfræðideild / Department of Computer Science >

Vinsamlegast notið þetta auðkenni þegar þið vitnið til verksins eða tengið í það: http://hdl.handle.net/1946/36422

Titill: 
  • Titill er á ensku Autonomous landing of a multicopter using computer vision
Námsstig: 
  • Meistara
Leiðbeinandi: 
Útdráttur: 
  • Útdráttur er á ensku

    Takeoff, normal flight, and even specialized tasks such as taking pictures, are essentially solved problems in autonomous drone flight. This notably excludes landing, which typically requires a pilot because of its inherently risky nature. This project attempts to solve the problem of autonomous drone landing using computer vision and fiducial markers - and specifically does not use GPS as a primary means of navigation during landing. The system described in this thesis extends the functionality of the widely-used, open-source ArduPilot software which runs on many drones today, and which has only primitive functionality for autonomous landing. This system is implemented as a set of ROS modules which interact with ArduPilot for control. It is designed to be easily integrated into existing ArduPilot drone systems through the addition of a companion board and gimbal-mounted camera. Results are presented to evaluate the system's performance with regard to pose estimation and landing capabilities within Gazebo 9 simulator. Guidelines are provided for migration to a physical system as a gateway to future work.

Samþykkt: 
  • 23.6.2020
URI: 
  • http://hdl.handle.net/1946/36422


Skrár
Skráarnafn Stærð AðgangurLýsingSkráartegund 
master_thesis_joshua_springer.pdf11.42 MBOpinnHeildartextiPDFSkoða/Opna