Contrôle coopératif et prédictif d'avions sans pilote en présence d'obstacles ellipsoïdaux statiques et inconnus
|Advisor:||Desbiens, André; Gagnon, Éric|
|Abstract:||The main objective of this master's project is to develop a predictive control algorithm that will allow unmanned aerial vehicles (UAVs) to intercept static targets of known position. UAVs must however avoid static ellipsoidal obstacles detected on-route, when they are in close proximity to the aircrafts. Information on the detected obstacles must also be transmitted to fellow UAVs. Each aircraft can receive information from another aircraft, only if they are in communication range. Moreover, it is assumed that each aircraft is equipped with an autopilot (on-board control device) to stabilize the UAV in-flight. The predictive control algorithm must thus determine the commands to transmit to the autopilot. The developed algorithm was tested in simulation and with a Hardware-In-the-Loop (HIL) system, both of which yielded successful results.|
|Document Type:||Mémoire de maîtrise|
|Open Access Date:||13 April 2018|
|Collection:||Thèses et mémoires|
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