Autonomous Navigation of Unmanned Aerial Vehicles Subjected to Time Delays
Walter Aburime · 2018
This thesis presents a new method of compensating for time delays in the control and navigation of UAVs.The aerial vehicles are controlled with a coordinated lateral control.The operator signals are delayed and a bank of recursive least squares (RLS) filters are used to identify the delay and the target waypoint.Hypothesis testing is implemented to select the filter that most closely matches the delay.This filter determines the delay and the target waypoint.Once a filter is selected, the UAV then computes its heading to the estimated target waypoint.By executing the self computed heading, the UAV performs autonomous navigation to the target waypoint.The operator keeps operating the UAV and the UAV keeps track of the operator commands so that if there is a change in delay or the waypoint, the UAV learns and adjusts accordingly.iii My deepest gratitude to my thesis supervisor Prof.Howard Schwartz for his patience and guidance in this thesis.To you I say a very big thank you for always making yourself available to answer my questions and dispel my confusions.I like to thank my co-supervisor Prof. Givigi