Development of an experimental framework for validating GNC algorithms for Quadrotors in multi-scenario Applications
Tesi esterna in azienda
Parole chiave AUTONOMOUS NAVIGATION, DRONES, EMBEDDED SYSTEMS, HARDWARE IN THE LOOP (HIL)
Riferimenti MARTINA MAMMARELLA
Gruppi di ricerca 04-Automazione e Robotica
Tipo tesi SPERIMENTAL AND MODELLING
Descrizione The adoption of Unmanned Aerial Vehicles (UAVs) in several scenarios can aspire to become a reality if the validation of their effectiveness is sustained by the contemporary and shared improvement of all those technological gaps identified by current research projects. In particular, a crucial point is still linked to the autonomy of drones related to the concept of guidance, navigation and control (GNC).
This thesis is aimed to the development of an experimental framework where different guidance, navigation and control advanced and customized algorithms, once developed and validated in a simulation environment, can be embedded onboard the selected platform for performing Hardware-In-the-Loop and flight tests. The activity aims to train new professionals in the areas of autonomous systems with application to different sectors ranging from precision farming to Industry 4.0. The candidate will be in charge of implementing and testing via HIL simulation different GNC strategies (pre-developed in a MATLAB/Simulink environment), to be embedded on the onboard SDK (OSDK) platform, equipped on a DJI Matrice 300RTK or 600. In particular, the candidate will build a Linux or ROS standalone application based on OSDK, which will allow to extend the flight and control capabilities of the selected platform.
Vedi anche cnr - thesis proposal on hil for agri.pdf
Conoscenze richieste • Excellent knowledge of computer science and programming
• Excellent coding skills in MATLAB/Simulink
• Excellent coding skills in Linux or ROS
• Excellent knowledge of spoken/written English
Scadenza validita proposta 31/12/2023 PROPONI LA TUA CANDIDATURA