Description
There has been exciting progress in the area of Unmanned Aerial Vehicles (UAV) in the last decade, especially for quadrotors due to their nature of easy manipulation and simple structure. A lot of research has been done on achieving autonomous and robust control for quadrotors. Recently researchers have been utilizing linear temporal logic as mission specification language for robot motion planning due to its expressiveness and scalability. Several algorithms have been proposed to achieve autonomous temporal logic planning. Also, several frameworks are designed to compose those discrete planners and continuous controllers to make sure the actual trajectory also satisfies the mission specification. However, most of these works use first-order kinematic models which are not accurate when quadrotors fly at high speed and cannot fully utilize the potential of quadrotors.
This thesis work describes a new design for a hierarchical hybrid controller that is based on a dynamic model and seeks to achieve better performance in terms of speed and accuracy compared with some previous works. Furthermore, the proposed hierarchical controller is making progress towards guaranteed satisfaction of mission specification expressed in Linear Temporal Logic for dynamic systems. An event-driven receding horizon planner is also utilized that aims at distributed and decentralized planning for large-scale navigation scenarios. The benefits of this approach will be demonstrated using simulations results.
This thesis work describes a new design for a hierarchical hybrid controller that is based on a dynamic model and seeks to achieve better performance in terms of speed and accuracy compared with some previous works. Furthermore, the proposed hierarchical controller is making progress towards guaranteed satisfaction of mission specification expressed in Linear Temporal Logic for dynamic systems. An event-driven receding horizon planner is also utilized that aims at distributed and decentralized planning for large-scale navigation scenarios. The benefits of this approach will be demonstrated using simulations results.
Details
Title
- Design and synthesis of a hierarchical hybrid controller for quadrotor navigation
Contributors
- Zhang, Xiaotong (Author)
- Fainekos, Georgios (Thesis advisor)
- Ben Amor, Heni (Committee member)
- Shrivastava, Aviral (Committee member)
- Arizona State University (Publisher)
Date Created
The date the item was original created (prior to any relationship with the ASU Digital Repositories.)
2016
Subjects
Resource Type
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Note
- thesisPartial requirement for: M.S., Arizona State University, 2016
- bibliographyIncludes bibliographical references (pages 61-63)
- Field of study: Computer science
Citation and reuse
Statement of Responsibility
by Xiaotong Zhang