Implementation of autonomous navigation and mapping using a laser line scanner on a tactical unmanned aerial vehicle

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dc.contributor.advisorChung, Timothy H.
dc.contributor.authorArdhaoui, Mejdi Ben.
dc.contributor.departmentComputer Science (CS)
dc.contributor.secondreaderDavis, Duane
dc.dateDecember 2011
dc.date.accessioned2012-08-22T15:33:25Z
dc.date.available2012-08-22T15:33:25Z
dc.date.issued2011-12
dc.description.abstractThe objective of this thesis is to investigate greater levels of autonomy in unmanned vehicles. This is accomplished by reviewing past literature about the developing of components of software architecture that are necessary for unmanned systems to achieve greater autonomy. The thesis presents implementation studies of existing sensor-based robotic navigation and mapping algorithms in both software and hardware, including a laser range finder, on a quadrotor unmanned aerial vehicle platform for real-time obstacle detection and avoidance. This effort is intended to lay the groundwork to begin critical evaluation of the strengths and weaknesses of the MOOS-IVP autonomy architecture and provide insight into what is necessary to achieve greater levels of intelligent autonomy in current and future unmanned systems.en_US
dc.description.serviceTunisian Army authoren_US
dc.description.urihttp://archive.org/details/implementationof1094510728
dc.format.extentxiv, 69 p. : col. ill. ; 28 cm.en_US
dc.identifier.urihttps://hdl.handle.net/10945/10728
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.en_US
dc.subject.authorArtificial Intelligenceen_US
dc.subject.authorObstacle Avoidanceen_US
dc.subject.authorPotential Fielden_US
dc.subject.authorOccupancy Griden_US
dc.subject.authorQuadrotoren_US
dc.subject.authorMOOS-IvP;en_US
dc.subject.lcshDrone aircraft.en_US
dc.titleImplementation of autonomous navigation and mapping using a laser line scanner on a tactical unmanned aerial vehicleen_US
dc.typeThesis
dspace.entity.typePublication
etd.thesisdegree.disciplineComputer Scienceen_US
etd.thesisdegree.grantorNaval Postgraduate School (U.S.)en_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.nameM.S. in Computer Scienceen_US
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