Full metadata record
| DC Field | Value | Language |
|---|---|---|
| dc.contributor | Department of Mechanical Engineering | en_US |
| dc.contributor.advisor | Wen, Chih-yung (AAE) | en_US |
| dc.creator | Chang, Ching Wei | - |
| dc.identifier.uri | https://theses.lib.polyu.edu.hk/handle/200/11989 | - |
| dc.language | English | en_US |
| dc.publisher | Hong Kong Polytechnic University | en_US |
| dc.rights | All rights reserved | en_US |
| dc.title | Proactive guidance for accurate quadrotor-based UAV landing on dynamic platform | en_US |
| dcterms.abstract | The ever-burgeoning development of unmanned aerial vehicles (UAVs) within the past decades has provided people a promising solution in various applications, such as package delivery, autonomous infrastructure, and so on; although the many endeavors from engineers, the gap between theories and applications should be further bridged for real-world scenarios, where autonomous landing being one of the crucial aspects. Due to the complexity and uncertainty of the surroundings, the landing task of a UAV has been deemed to be the most critical and fragile stage of the whole flight mission. Hence, this thesis aims to improve the current state-of-the-art autonomous landing methods, in which pitch variation, visual-inertial based perception, path planning, and trajectory optimization are comprehensively studied. | en_US |
| dcterms.abstract | First of all, to enhance control performance and energy efficiency, a variable-pitch propeller (VPP) system and a novel control allocation method are introduced. The control allocation method was firstly verified in a simulation environment via mathematical models and was then implemented on a flight controller and experimented with in a motion-capture arena. The results show that the proposed method improves the yaw tracking performance and demonstrates an improvement in energy consumption through various pitch angles. | en_US |
| dcterms.abstract | In addition to the above, for the autonomous landing system of UAVs, a novel system configuration is presented. The proposed design, unlike most state-of-the-art UAV landing frameworks (that rely on UAV onboard computers and sensors), fully depends on the computation unit situated on the ground vehicle/marine vessel to serve as a landing guidance system. Such a novel configuration can lighten the burden of the UAV, whilst its computation power is enhanced. Specifically, a sensor fusion-based algorithm for the guidance system to perform UAV localization is utilized, whilst a control method based upon trajectory optimization is presented. Indoor and outdoor experiments are conducted, and the results show that precise autonomous landing on a 43 cm × 43 cm platform can be performed. | en_US |
| dcterms.abstract | Finally, the conclusion contains in-progress works and future opportunities for autonomous landing system improvement. | en_US |
| dcterms.extent | xv, 85 pages : color illustrations | en_US |
| dcterms.isPartOf | PolyU Electronic Theses | en_US |
| dcterms.issued | 2022 | en_US |
| dcterms.educationalLevel | Ph.D. | en_US |
| dcterms.educationalLevel | All Doctorate | en_US |
| dcterms.LCSH | Drone aircraft | en_US |
| dcterms.LCSH | Drone aircraft -- Control systems | en_US |
| dcterms.LCSH | Hong Kong Polytechnic University -- Dissertations | en_US |
| dcterms.accessRights | open access | en_US |
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