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en:planification_et_commande_d_une_plate-forme_aeroportee_station-_naire_autonome_dediee_a_la_surveillance_des_ouvrages_d_art [2016/04/07 16:38] – castilloen:planification_et_commande_d_une_plate-forme_aeroportee_station-_naire_autonome_dediee_a_la_surveillance_des_ouvrages_d_art [2016/04/07 17:33] (current) – [Eli KAHALE (Evry University)] castillo
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 Grant from __french Government__ \\ Grant from __french Government__ \\
 Location: Heudiasyc \\ Location: Heudiasyc \\
-Date PhD finished: March, 2014 \\+Date PhD finished: ** March 4th, 2014** 
 + \\
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 __Collaboration: Evry University__\\ __Collaboration: Evry University__\\
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 == Abstract == == Abstract ==
  
-The present document addresses, theoretically and experimentally, the most relevant topics +Today, the inspection of structures is carried out through visual assessments realized by quali ed inspectors. This procedure is very expensive and can put the personal in dangerous situations. Consequently, the development of an unmanned aerial vehicle equipped with on-board vision systems is privileged nowadays in order to facilitate the access to unreachable zones.\\
-for Unmanned Aerial Vehicles (UAVs) in autonomous and semi-autonomous navigation. +
-According with the multidisciplinary nature of the studied problems, a wide range of +
-techniques and theories are covered in the fields of robotics, automatic control, computer +
-science, computer vision and embedded systems, among others.\\ +
-  +
-As part of this thesis, two different experimental platforms were developed in order to +
-explore and evaluate various theories and techniques of interest for autonomous navigation. +
-The first prototype is a quadrotor specially designed for outdoor applications and was fully +
-developed in our lab. The second testbed is composed by a non expensive commercial +
-quadrotor kind AR. Drone, wireless connected to a ground station equipped with the Robot +
-Operating System (ROS), and specially intended to test computer vision algorithms and +
-automatic control strategies in an easy, fast and safe way.\\+
  
-In addition, this work provides an study of data fusion techniques looking to enhance +In this context, the main focus in the thesis is developing original methods to deal with planning, reference trajectories generation and tracking issues by a hovering airborne platform. These methods should allow an automation of the flight in the presence of air disturbances and obstacles. Within this framework, we are interested in two kinds of aerial vehicles with hovering capacity: airship and quad-rotors. \\
-the UAVs pose estimation provided by commonly used sensors. Two strategies are evaluated +
-in particular, an Extended Kalman Filter (EKF) and a Particle Filter (PF). Both estimators +
-are adapted for the system under consideration, taking into account noisy measurements +
-of the UAV position, velocity and orientation. Simulations show the performance of +
-the developed algorithms while adding noise from real GPS (Global Positioning System) +
-measurements.\\+
  
-Safe and accurate navigation for either autonomous trajectory tracking or haptic teleoperation +Firstly, the mathematical representation of an aerial vehicle in the presence of wind has been realized using the second law of Newton. 
-of quadrotors is presented as well. A second order Sliding Mode (2-SM) control +Secondly, the question of trajectory generation in the presence of wind has been studied: the problem of minimal time was formulated, analyzed analytically and solved numerically.Then, a strategy of trajectory planning based on operational research approaches has been developed. \\
-algorithm is used to track trajectories while avoiding frontal collisions in autonomous flight. +
-The time-scale separation of the translational and rotational dynamics allows to design position +
-controllers by giving desired references in the roll and pitch angles, which is suitable +
-for quadrotors equipped with an internal attitude controller. The 2-SM control allows to +
-add robustness to the closed-loop system and attenuates the chattering effect. A Lyapunov +
-based analysis probes the system stability. Vision algorithms are employed to estimate the +
-pose of the vehicle using only a monocular SLAM (Simultaneous Localization and Mapping) +
-fused with inertial measurements. Distance to potential obstacles is detected and +
-computed using the sparse depth map from the vision algorithm. For teleoperation tests, +
-a haptic device is employed to feedback information to the pilot about possible collisions, +
-by exerting opposite forces. The proposed strategies are successfully tested in real-time +
-experiments, using a low-cost commercial quadrotor. \\+
  
-Also, conception and development of a Micro Aerial Vehicle (MAV) able to safely +Thirdly, the problem of trajectory tracking was carried out. A nonlinear robust control law based on Lyapunov analysis has been proposed. In addition, an autopilot based on saturation functions for quad-rotor crafts has been developed. All methods and algorithms proposed in this thesis have been validated through simulations.\\
-interact with human users by following them autonomously, is achieved in the present +
-work. Once a face is detected by means of a Haar cascade classifier, it is tracked applying +
-a Kalman Filter (KF), and an estimation of the relative position with respect to the face +
-is obtained at a high rate. A linear Proportional Derivative (PD) controller regulates the +
-UAV’s position in order to keep a constant distance to the face, employing as well the extra +
-available information from the embedded UAV’s sensors. Several experiments were carried +
-out through different conditions, showing good performance even under disadvantageous +
-scenarios like outdoor flight, being robust against illumination changes, wind perturbations, +
-image noise and the presence of several faces on the same image. +
-\\ +
- +
-Finally, this thesis deals with the problem of implementing a safe and fast transportation +
-system using an UAV kind quadrotor with a cable suspended load. The objective consists +
-in transporting the load from one place to another, in a fast way and with minimum +
-swing in the cable. An Interconnection and Damping Assignment-Passivity Based Control +
-(IDA-PBC) for the system of interest is successfully implemented and tested in real time +
-experiments. The use of this control technique avoids the use of an extra sensor for the +
-swing angle measurement. An experimental platform composed by a quadrotor equipped +
-with a rigid rod with two degrees of freedom in the joint, is developed. UAV navigation is +
-achieved via monocular vision.+
  
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