Description:
This project aims to develop a multi-rotor Unmanned Aerial Vehicle (UAV) that is capable of autonomously taking off from and landing on a moving wheeled robot. The multi-rotor UAV and the robot will communicate and coordinate to achieve precise landing in dynamic environments. The system will focus on real-time data exchange, sensor fusion, and cooperative control, enabling both the UAV and the wheeled robot to assist each other in navigation, data collection, and decision-making processes. This capability will enhance multi-robot operations in complex environments such as search and rescue missions, industrial inspections, and environmental monitoring.
3. Objectives
- Precision Landing: Develop algorithms for the multi-rotor UAV to autonomously land on a moving wheeled robot with high accuracy, using real-time sensor data from both the UAV and the robot.
- Autonomous Takeoff and Landing: Implement reliable autonomous takeoff and landing procedures for the UAV in dynamic, real-world conditions where the robot is in continuous motion.
- Coordinated Communication: Establish a robust communication system between the UAV and the wheeled robot, allowing them to share sensor data and positional information to aid in the landing process.
- Sensor Fusion for Navigation: Utilise sensor fusion techniques (e.g., GPS, vision, LiDAR) for improved coordination and accurate landing, even in environments with obstacles or poor GPS signals.
- Real-Time Decision Making: Develop real-time decision-making algorithms for the UAV to determine optimal landing windows, considering factors like terrain, robot velocity, and environmental conditions.
Key skills/interests:
Mathematical modelling, control design, trajectory generation, sensor fusion.
Expected outputs:
1x MSc (Eng), 1x Journal/Conference paper in a leading publication.
Supervisors:
Arnold Pretorius (MechatronicSystems.Group, Dept. of Mechanical Engineering)
Paul Amayo (African Robotics Unit, Dept. of Electrical Engineering)
Funding:
Bursary funding is available through a CSIR grant.