Print Email Facebook Twitter Trajectory Library based Guidance for Drones in Unknown Environment Title Trajectory Library based Guidance for Drones in Unknown Environment: A feasibility study Author Wang, Siying (TU Delft Aerospace Engineering) Contributor de Visser, C.C. (mentor) Degree granting institution Delft University of Technology Programme Aerospace Engineering | Control & Simulation Date 2017-11-28 Abstract UAVs(Unmanned Aerial Vehicles) have gained popularity in various fields, and many applications require the drones to perform tasks in indoor environments. One major challenge in UAV indoor guidance is the absence of accurate GPS(Global Positioning System)signals. In this work, a novel guidance method is investigated which uses a library of pre-computed trajectories which can be used in GPS-denied environments. Trajectory library is constructed and it stores the sequence of control inputs, which are selected to be theEuler angles and thrust force, obtained from closed-loop flight. Flight test results suggest that the approach is feasible for short intervals, and the standard deviations between open-loop flights are shown to be within acceptable range. The relationships between velocity, time and standard deviation are also explored. Subject Trajectory optimisationtrajectory libraryUAV To reference this document use: http://resolver.tudelft.nl/uuid:24e2b122-55f6-4411-b490-9d664776948a Embargo date 2020-11-28 Part of collection Student theses Document type master thesis Rights © 2017 Siying Wang Files PDF SiyingWang_Thesis_Final.pdf 2 MB Close viewer /islandora/object/uuid:24e2b122-55f6-4411-b490-9d664776948a/datastream/OBJ/view