PhD-FSTM-2020-73
The Faculty of Sciences, Technology and Medicine
DISSERTATION
Defence held on 07/12/2020 in Luxembourg to obtain the degree of
DOCTEUR DE L’UNIVERSITÉ DU LUXEMBOURG
EN SCIENCES DE L’INGENIEUR
by
Min WANG
Born on 23 June 1989 in Hubei, China
R
OBUST
R
EAL
-
TIME SENSE
-
AND
-
AVOID SOLUTIONS
FOR REMOTELY PILOTED QUADROTOR UAVS IN
COMPLEX ENVIRONMENTS
Dissertation defence committee
Dr-Ing. Holger VOOS,dissertation supervisorProfessor, Université du Luxembourg
Dr Jean-Régis HADJI-MINAGLOU, Chairman
Professor, Université du Luxembourg
Dr Fulvio MASTROGIOVANNI
Professor, Università di Genova
Dr Toshiyuki MURAKAMI
Professor, Keio University
Dr Radu STATE,Vice Chairman
= . = . = .
= . = .
F F
F = D =
Sensing Emergency
Evaluation
commanded path
4
ψ θ
φ
' ( =
' ( ' (
( ) ( ) = .
( , θ ) θ
Track 1
Track 2
Gate 1
λ
Σ = λ
=
Inertial frame UAV
Object
˙ < ˙σ =
/
, , , ψ , = ( , , , ) = * ( , ) + ( , ) ψ = ( , , , ) = , , pitch roll Mixer
yaw yaw rate
Z = { , , . . . , }
, ∈ R λ
= −
Ω
Ω ={ ≤ γ + λ , ∈ Z}
={γ + λ ≤ ≤ γ + λ , ∈ Z}
= (F ) =F
.
100 90 80 70 x (m) 0 1 2 3 60 z (m) 0 50 -5 y (m) 40 -10 30 -15 20 intended directi on
-25 -20 -15 -10 -5 0 5 10 UAV Object 1 Object 2 t1 = 40.70s t2 = 41.90s t3 = 43.30s 30 40 50 60 70 80 -25 -20 -15 -10 -5 0 5 10 t4 = 44.00s 30 40 50 60 70 80 t5 = 45.40s 30 40 50 60 70 80 t6 = 48.00s X (m) Y (m) 0 0.5 1 1.5 2 2.5 Altitude (m) desired actual 0 2 4 6 vmag (m/s) desired actual -2 -1 0 1 2
Euler angles (radian)
