DESIGN AND IMPLEMENTATION OF NAVIGATION SYSTEM FOR UNMANNED AERIAL VEHICLE TO SUPPORT AUTONOMOUS TAKE OFF, LANDING AND TRACKING

• Main Author: LEE (NIM : 13214011), JHONSON
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/28279
• Institution: Institut Teknologi Bandung

<p align="justify"> <br /> <br /> Cooperation Systems of Ground Robot and Aerial Robot for Monitoring Concentration of Chemical Contaminant project uses Unmanned Aerial Vehicle(UAV) and Unmanned Ground Vehicle(UGV) which cooperates each other to accomplish given mission. Both vehicles explore and monitor area contaminated with hazardous chemical contaminant autonomously. Those exploration and monitoring mission are controlled autonomously by remote computer at Ground Control Station(GCS). To implement autonomous behavior, UAV is embedded with three important features: automatic take off, automatic landing and automatic tracking. For automatic take off, UAV flies up from landing position above UGV autonomously. While in flying position UAV is capable of following UGV movement which is automatic tracking feature. If the gives mission is done, UAV will land on UGV landing plane which is automatic landing feature. Battery capacity for UGV is much greater which supports long range exploration. In contrast, UAV battery capacity is very limited and will only be used for complex terrain which can be explored by UGV. <br /> <br /> Performance and success rate for three fundamental features stated depend on navigation systems both on UAV and UGV. Navigation system outputs vehicle position, velocity and orientation which are essential for other system operations. In this case, position information produced by navigation system is used to support three fundamental features stated. In this research, design and implementation of navigation system for UAV are presented in detail. The main goal is to achieve high accuracy and high precision UAV position information. Beside position information, navigation system provides velocity and orientation information as well. Both information is essential to build other system in integrated UAV. <br /> <br /> As a fundamental system in robot development, navigation system has been long developed by many research group in the world. One of many approaches used is sensor fusion. In this approach, navigation system is embedded with many sensors to maximize advantages and minimize drawbacks from each sensor. Therefore, sensors are selected in a way to complement each other. Beside its complementary behavior, each sensor used can behave as redundant as well. Redundant behavior is used to mitigate the effect of failure in one of several sensors used. If one sensor fails in giving valid measurement, the system will get valid measurement from other redundant sensors. This research is based of sensor fusion approach in designing navigation system for UAV. <br /> <br /> Navigation system is tested independently to assess its accuracy and precision. Independent testing result shows high accuracy and high precision navigation system in determining position and orientation information. Navigation system testing in UAV and UGV cooperation scheme is also presented in this book. Conclusion in this research is high accuracy and high precision navigation system for UAV has been successfully achieved. <br /> <p align="justify">