Sensor integration for implementation of obstacle avoidance in an autonomous helicopter system

Abstract

This thesis describes the development of the Texas A&M University Autonomous Helicopter System and the integration of obstacle avoidance capabilities into that system. The helicopter system, composed of a Bergen Observer helicopter and a Rotomotion Autonomous Flight Control System (AFCS), was developed as a platform to support the development of the obstacle avoidance system through integration of sensors and onboard processing capabilities. The system has proven in various flight tests that it has the capability to autonomously hover and fly to user defined GPS waypoints. The obstacle avoidance algorithm has been proven in simulations involving an interface with the Rotomotion AFCS and the flight simulation software they created to facilitate the development of that system. The helicopter has also demonstrated appropriate responses to sensor input commensurate with the obstacle avoidance algorithm. Full avoidance tests were unable to be performed due to hardware malfunctions inherent in the obstacle avoidance sensors.