Localization and Control of a Quadcopter Universal Payload System

  • Author / Creator
    Sherstan, Mark James
  • There is a growing trend of using unmanned aerial vehicles (also known as UAVs, uncrewed aerial vehicles, or drones) to manipulate and interact with their surroundings. The algorithms and tools used are typically unique to the different tasks performed by UAVs; however, the fundamental UAV system largely remains consistent. This thesis offers a general quadrotor UAV system capable of performing multiple tasks dependent on available payloads. The system is empirically developed and performs localization using ArUco fiducial markers, an inertial measurement unit, and a Kalman filter. Navigation is achieved using a proportional integral derivative controller, and interfacing with various payloads is accomplished with a custom-developed universal payload manipulator. The system is described in detail and demonstrated with real-world experimentation, including the deployment of an example payload for removing twist caps off sump lubricant reservoirs. Empirical results show the developed system as an initial functional prototype in ideal conditions, and further work is required to increase system reliability and functionality for non-ideal scenarios.

  • Subjects / Keywords
  • Graduation date
    Spring 2021
  • Type of Item
  • Degree
    Master of Science
  • DOI
  • License
    This thesis is made available by the University of Alberta Libraries with permission of the copyright owner solely for non-commercial purposes. This thesis, or any portion thereof, may not otherwise be copied or reproduced without the written consent of the copyright owner, except to the extent permitted by Canadian copyright law.