Graduation Year
2014
Document Type
Open Access Senior Thesis
Degree Name
Bachelor of Science
Department
Mathematics
Reader 1
Weiqing Gu
Reader 2
Zachary Dodds
Terms of Use & License Information
Rights Information
© 2014 Sorathan Chaturapruek
Abstract
The obstacle avoidance navigation problem for Unmanned Aerial Vehicles (UAVs) is a very challenging problem. It lies at the intersection of many fields such as probability, differential geometry, optimal control, and robotics. We build a mathematical framework to solve this problem for quadrotors using both a theoretical approach through a Hamiltonian system and a machine learning approach that learns from human sub-experts' multiple demonstrations in obstacle avoidance. Prior research on the machine learning approach uses an algorithm that does not incorporate geometry. We have developed tools to solve and test the obstacle avoidance problem through mathematics.
Recommended Citation
Chaturapruek, Sorathan, "A Mathematical Framework for Unmanned Aerial Vehicle Obstacle Avoidance" (2014). HMC Senior Theses. 60.
https://scholarship.claremont.edu/hmc_theses/60
Source Fulltext
http://www.math.hmc.edu/~schaturapruek/thesis/
Included in
Artificial Intelligence and Robotics Commons, Control Theory Commons, Geometry and Topology Commons, Navigation, Guidance, Control and Dynamics Commons, Other Mathematics Commons
