2026-09-19T04:08:07Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1037182026-06-16T18:54:22Zcom_1721.1_7582com_1721.1_7581col_1721.1_131022
Russ Tedrake.
Barry, Andrew J. (Andrew James)
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2016-07-18T20:03:51Z
2016-07-18T20:03:51Z
2016
2016
http://hdl.handle.net/1721.1/103718
953414668
Thesis: Ph. D., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2016.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 115-127).
This thesis presents the design and implementation of a small autonomous unmanned aerial vehicle capable of high-speed flight through complex natural environments. Using only onboard sensing and computation, we perform obstacle detection, planning, and feedback control in realtime. We introduce a novel stereo vision algorithm, pushbroom stereo, capable of detecting obstacles at 120 frames per second without overburdening our lightweight processors. Our use of model-based planning and control techniques allows us to track precise trajectories that avoid obstacles identified by the vision system. We demonstrate a complete working system avoiding trees at up to 14 m/s (31 MPH). To the best of our knowledge this is the fastest lightweight aerial vehicle to perform collision avoidance in such a complex environment.
by Andrew J. Barry.
Ph.D.
127 pages
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
http://dspace.mit.edu/handle/1721.1/7582
Electrical Engineering and Computer Science.
High-speed autonomous obstacle avoidance with pushbroom stereo
Thesis
application/pdf
Publication
unknown
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