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Safe Navigation of a Tele-operated Unmanned Aerial Vehicle
KTH, School of Computer Science and Communication (CSC).
2018 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Säker teleoperativ navigering av en obemannad luftfarkost (Swedish)
Abstract [en]

Unmanned Aerial Vehicles (UAVs) can navigate in indoor environments and through environments that are hazardous or hard to reach for humans. This makes them suitable for use in search and rescue missions and by emergency response and law enforcement to increase situational awareness. However, even for an experienced UAV tele-operator controlling the UAV in these situations without colliding into obstacles is a demanding and difficult task.

This thesis presents a human-UAV interface along with a collision avoidance method, both optimized for a human tele-operator. The objective is to simplify the task of navigating a UAV in indoor environments. Evaluation of the system is done by testing it against a number of use cases and a user study. The results of this thesis is a collision avoidance method that is successful in protecting the UAV from obstacles while at the same time acknowledges the operator’s intentions.

Abstract [sv]

Obemannad luftfarkoster (UAV:er) kan navigera i inomhusmiljöer och genom miljöer som är farliga eller svåra att nå för människor. Detta gör dem lämpliga för användning i sök- och räddningsuppdrag och av akutmottagning och rättsväsende genom ökad situationsmedvetenhet. Dock är det även för en erfaren UAV-teleoperatör krävande och svårt att kontrollera en UAV i dessa situationer utan att kollidera med hinder.

Denna avhandling presenterar ett människa-UAV-gränssnitt tillsammans med en kollisionsundvikande metod, båda optimerade för en mänsklig teleoperatör. Målet är att förenkla uppgiften att navigera en UAV i inomhusmiljöer. Utvärdering av systemet görs genom att testa det mot ett antal användningsfall och en användarstudie. Resultatet av denna avhandling är en kollisionsundvikande metod som lyckas skydda UAV från hinder och samtidigt tar hänsyn till operatörens avsikter.

Place, publisher, year, edition, pages
2018.
Series
TRITA-EECS-EX ; 2018:6
Keywords [en]
unmanned aerial vehicle, safe navigation, tele-operated, robotics, drones, UAV, indoor, collision avoidance, human-UAV interface, interface, human-robot interface, computer science
National Category
Computer Sciences
Identifiers
URN: urn:nbn:se:kth:diva-221701OAI: oai:DiVA.org:kth-221701DiVA, id: diva2:1176285
Educational program
Master of Science in Engineering - Computer Science and Technology
Supervisors
Examiners
Available from: 2018-01-30 Created: 2018-01-22 Last updated: 2018-01-30Bibliographically approved

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