Institutional Repository
Technical University of Crete
Technical University of Crete
EN
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| URI: | http://purl.tuc.gr/dl/dias/E4412622-409D-4717-A9F7-398D666F8923 | ||
| Year | 2018 | ||
| Type of Item | Diploma Work | ||
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| Bibliographic Citation | Konstantinos Chokias, "Development of a Drone-Rover Docking System for Autonomous Transportation in Collaborative Environmental Monitoring Missions", Diploma Work, School of Electrical and Computer Engineering, Technical University of Crete, Chania, Greece, 2018 https://doi.org/10.26233/heallink.tuc.79351 | ||
| Appears in Collections |
The subject of this thesis focuses on the autonomous coupling, decoupling as well as transfer of an unmanned ground vehicle by an unmanned aerial vehicle. At a time when the use of unmanned vehicles has expanded, the result of this thesis could be incorporated into a large number of autonomous collaborative missions. By extent, unmanned ground vehicles will have the ability to enter inaccessible areas, where under different circumstances, the physical presence of a man would be necessary to carry out the transfer. Some indicative examples could be cases where access to terraces of buildings or hazardous areas is needed.The initial approach of the two autonomous systems is managed with the help of the GNSS system which, however, bears a limited accuracy of 3 to 5 meters. In order to achieve the autonomous coupling, appropriate algorithms were developed, allowing not only the visual recognition of the aerial by the ground vehicle via cameras but also the autonomous as well as high-precision approach of the ground vehicle to the mounting base, along with its secure locking and release from it. For this purpose ROS (Robot Operating System) environment and tools were used , thus enabling reliable synchronization and expandability.For the implementation, a prototype mounting base was constructed, which was placed at the bottom of an aerial vehicle, while also a six\--wheeled ground vehicle was modified in order for the coupling to be achieved. Then, a two-way communication was realized between both the embedded systems and the flight and motion controllers on each vehicle. The mounting base as well as all the necessary components were created through 3D printing. In order to validate the system\textsc{\char13}s proper operation and reliability, tests were conducted both in indoor and in outdoor conditions, which proved the feasibility of the proposal.
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