ETD

Archivio digitale delle tesi discusse presso l'Università di Pisa

Tesi etd-04252021-101410


Tipo di tesi
Tesi di laurea magistrale
Autore
AMOROSO, RAFFAELE
URN
etd-04252021-101410
Titolo
A Safety Augmentation System for Remotely Piloted Aerial Vehicles Based on Obstacle Compliance
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Pollini, Lorenzo
Parole chiave
  • PD regulator
  • UAV
  • LiDAR
  • remotely piloted aerial vehicles
  • obstacle compliance
  • collision avoidance
  • teleoperation
  • indoor
Data inizio appello
03/06/2021
Consultabilità
Non consultabile
Data di rilascio
03/06/2091
Riassunto
This thesis deals with remotely piloted aerial vehicles teleoperation focusing on the collision avoidance.
Especially in an indoor environment poor awareness of the operating environment ad of the aircraft position inside it, due to the lack of sensory perception, make the aircraft vulnerable to collisions making it more difficult to complete the mission. In such a scenario the operator's task becomes more difficult compared with outdoor operations, in which spaces are wider and precise informations on position and velocity of the aircraft are made available by the GPS system.

In this thesis it is discuss a collision avoidance system designed to make aircraft teleoperation a safer and easier task. In particular, in the following work an obstacle compliance control system was developed and implemented based solely on distance measurements provided by a LiDAR sensor. The control system aims to provide help to the pilot to perform teleoperation missions.

The document is divided into three main parts: the first one illustrates the software used for the development of the control system and the simulation framework designed to simulate the aircraft teleoperation in indoor scenario.
The second one deals with the collision problem and a possible solution is proposed, the obstacle compliance control system is then implemented and this study is justified through a theoretical treatment based on the system dynamic model. Furthermore, in order to evaluate the implemented system performance, this section presents some tasks that the aircraft will have to perform within a simulated indoor environment.
In the third and final part, the obstacle compliance system is tested on a real drone, followed by an analysis of the problems and future improvements.
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