Print Email Facebook Twitter Vision-guided Quadrotor Perching on Imperfectly Cylindrical Structures Title Vision-guided Quadrotor Perching on Imperfectly Cylindrical Structures Author McGinley, Seamus (TU Delft Aerospace Engineering) Contributor Hamaza, S. (mentor) Degree granting institution Delft University of Technology Programme Aerospace Engineering Date 2023-09-29 Abstract The design of aerial robots capable of perching poses significant challenges, from requiring pilots to master precise manoeuvres, to devising hardware and software capable of adapting to diverse perch structures and complex field environments. The Slapper drone presented in this paper tackles these challenges through three main innovations. First, a lightweight, vision-based system for autonomous perch detection using onboard flight hardware detects (imperfect) cylindrical objects found in both natural and artificial environments. Second, an onboard flight planning algorithm autonomously handles the detection, approach and perching flight phases, removing the need for a pilot. Third, a completely passive gripper utilises bistable shell structures to allow for perching on general long narrow features without any precise control inputs or power consumption. This design was successfully validated through both simulation and multiple indoor flights to result in reliable autonomous quadrotor perching in real-world environments. To reference this document use: http://resolver.tudelft.nl/uuid:21b4203a-abbb-47d7-bbd5-df042d8d7b53 Embargo date 2023-10-31 Part of collection Student theses Document type master thesis Rights © 2023 Seamus McGinley Files PDF Master_Thesis_Report.pdf 15.28 MB Close viewer /islandora/object/uuid:21b4203a-abbb-47d7-bbd5-df042d8d7b53/datastream/OBJ/view