Title page for ETD etd-05032006-161229


Type of Document Master's Thesis
Author Monda, Mark J.
Author's Email Address mjmonda@vt.edu
URN etd-05032006-161229
Title Hardware Testbed for Relative Navigation of Unmanned Vehicles Using Visual Servoing
Degree Master of Science
Department Aerospace and Ocean Engineering
Advisory Committee
Advisor Name Title
Schaub, Hanspeter Committee Chair
Hall, Christopher D. Committee Member
Woolsey, Craig A. Committee Member
Keywords
  • Hardware Testbed
  • Relative Motion Simulation
  • Visual Snakes
  • Visual Servoing
  • Parameter Estimation
  • Aerial Refueling
  • Forced Perspective
Date of Defense 2006-04-27
Availability unrestricted
Abstract
Future generations of unmanned spacecraft, aircraft, ground, and submersible vehicles will require precise relative navigation capabilities to accomplish missions such as formation operations and autonomous rendezvous and docking. The development of relative navigation sensing and control techniques is quite challenging, in part because of the difficulty of accurately simulating the physical relative navigation problems in which the control systems are designed to operate. A hardware testbed that can simulate the complex relative motion of many different relative navigation problems is being developed. This testbed simulates near-planar relative motion by using software to prescribe the motion of an unmanned ground vehicle and provides the attached sensor packages with realistic relative motion. This testbed is designed to operate over a wide variety of conditions in both indoor and outdoor environments, at short and long ranges, and its modular design allows it to easily test many different sensing and control technologies.
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