Department of Mechatronics Engineering

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http://hdl.handle.net/20.500.11905/1218

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Browsing Department of Mechatronics Engineering by Author "AL-QASSAB, AYMAN"

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    LOCALIZATION AND PATH PLANNING FOR MULTIPLE AGENTS USING OPTI-TRACK CAMERAS
    (2022-01-10) AL-QASSAB, AYMAN; Khan, Umer; GOL MOHAMMADZADEH, Hassan
    The process of digitally detecting and recording the movements of objects or living beings in a physical space is performed using motion capture (MoCap) system, such as Opti-Track system. In this study, the purpose of the motion capture system is to continuously determine the poses of both quadrotor and mobile platform. The location information is utilised by the navigation system to guide the quadrotor towards the moving mobile platform and to land safely. To achieve the desired results with good accuracy, a Kalman filter is used to track the mobile platform. Moreover, another Kalman filter is employed to predict the future location of the mobile platform. A model predictive controller (MPC) is utilized to guide the quadrotor toward the predicted location. The model predictive control helps the quadrotor to follow its desired path. This study proposed a navigation system that utilizes the motion capture system‟s information and Kalman filter to predict the future location of a moving mobile platform and navigate the quadrotor to the mobile platform. The navigation system controls the quadrotor‟s take off, cruising trajectory, and landing on the mobile platform, autonomously. Several experiments are conducted to verify the proposed navigation system's performance and reliability. The results of the experiments demonstrate that the proposed navigation system has proved itself effective in achieving the desired results.