Abstract
Using quadcopters for analysis of an environment has been an intriguing subject of study recently. The purpose of this work is to develop a fully autonomous UAV platform for Railroad inspection The dynamics of the quadrotor is derived using Euler's and Newton's laws and then linearized around the hover position. A PID controller is designed to control the states of the quadrotor in a manner to effectively follow a vision-based path, using the down facing camera on a Parrot Mambo quadrotor. Using computer vision the distance from the position of the quadrotor to the position of the center of the path was found. Using the yaw controller to minimize this distance was found to be an adequate method of vision-based path following, by keeping the area of interest in the field of view of the camera. The downfacing camera is also simultaneously observing the path to detect defects using machine learning. This technique was able to detect simulated defects on the path with around 90% accuracy.
Notes
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Graduation Date
2019
Semester
Summer
Advisor
Elgohary, Tarek
Degree
Master of Science in Aerospace Engineering (M.S.A.E.)
College
College of Engineering and Computer Science
Department
Mechanical and Aerospace Engineering
Degree Program
Aerospace Engineering; Space System Design and Engineering
Format
application/pdf
Identifier
CFE0007623
URL
http://purl.fcla.edu/fcla/etd/CFE0007623
Language
English
Release Date
8-15-2019
Length of Campus-only Access
None
Access Status
Masters Thesis (Open Access)
STARS Citation
Debevec, Ryan, "A Smart UAV Platform for Railroad Inspection" (2019). Electronic Theses and Dissertations. 6475.
https://stars.library.ucf.edu/etd/6475