Reachable Set for a drone

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dc.contributor.advisorBecker, Aaron T.
dc.contributor.committeeMemberJackson, David R.
dc.contributor.committeeMemberChen, Zheng
dc.contributor.committeeMemberCescon, Marzia
dc.contributor.committeeMemberLi, Xingpeng
dc.creatorSultan, Mohammad M.
dc.date.accessioned2023-06-02T17:25:41Z
dc.date.createdDecember 2022
dc.date.issued2022-12-14
dc.date.updated2023-06-02T17:25:43Z
dc.description.abstractQuadcopters are increasingly popular for robotics applications. Being able to efficiently calculate the set of positions reachable by a quadcopter within a time budget enables collision avoidance and pursuit-evasion strategies. This research computes the set of positions reachable by a quadcopter within a specified time limit using a simplified 2D model for quadcopter dynamics. This popular model is used to determine the set of candidate optimal control sequences to build the full 3D reachable set at final time T in (x,z,θ) phase space or rotated to form the set in (x,y,z) Cartesian space. We calculate the analytic equations that exactly bound the set of positions reachable in a given time horizon for all initial conditions. We use these bounds to: escape a bounded region, avoid a collision, find the collision set, determine the closest point to the reachable set, reach a goal (x,z) in the reachable set, and for drone countermeasures.
dc.description.departmentElectrical and Computer Engineering, Department of
dc.format.digitalOriginborn digital
dc.format.mimetypeapplication/pdf
dc.identifier.citationPortions of this document appear in: Mohiuddin, Sayed Golam, Sreyashi Ghosh, Pouria Kavousi, and Mehmet A. Orman. "Proton Motive Force Inhibitors Are Detrimental to Methicillin-Resistant Staphylococcus aureus Strains." Microbiology Spectrum 10, no. 4 (2022): e02024-22.
dc.identifier.urihttps://hdl.handle.net/10657/14391
dc.language.isoeng
dc.rightsThe author of this work is the copyright owner. UH Libraries and the Texas Digital Library have their permission to store and provide access to this work. UH Libraries has secured permission to reproduce any and all previously published materials contained in the work. Further transmission, reproduction, or presentation of this work is prohibited except with permission of the author(s).
dc.subjectReachable set
dc.subjectQuadcopter
dc.subjectBang bang control
dc.subjectCollision avoidance
dc.titleReachable Set for a drone
dc.type.dcmiText
dc.type.genreThesis
dcterms.accessRightsThe full text of this item is not available at this time because the student has placed this item under an embargo for a period of time. The Libraries are not authorized to provide a copy of this work during the embargo period.
local.embargo.lift2024-12-01
local.embargo.terms2024-12-01
thesis.degree.collegeCullen College of Engineering
thesis.degree.departmentElectrical and Computer Engineering, Department of
thesis.degree.disciplineElectrical Engineering
thesis.degree.grantorUniversity of Houston
thesis.degree.levelDoctoral
thesis.degree.nameDoctor of Philosophy

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