Description
Unmanned aerial vehicles offer a high application potential for the automated execution of inventory, inspection and surveying processes and can make transport processes more flexible. Therefore, the overall research topic of this dissertation thesis is the investigation of an autonomous aerial robot system (AFRS) for use in production and logistics environments.
For this purpose, an overall system architecture for an AFRS is presented, which meets the requirements arising from the industrial application field and provides the system components, capabilities and interfaces necessary for the realization of fully automated flight operations. In addition, methods for precise, task-adapted localization of autonomous flying robots (AFR) are researched and redundancy requirements are taken into account.
The second research topic is the development of a suitable airspace management and route planning system. Taking into account the three-dimensional workspace and the prevailing space conditions, the aim is to determine optimal flight paths for the AFR under specified conditions while reliably excluding collisions during error-free flight.
The third part of the research involves the end-to-end consideration of redundancy and safety requirements and the research and implementation of a comprehensive safety architecture for the use of AFR. The focus is on developing a method for predicting, detecting, and masking system failures. Furthermore, a method is presented to detect persons in the AFR environment during flight and to adapt the flight behavior of the AFR in an appropriate way.
Concluding, a productive AFRS is implemented and evaluated by means of comprehensive simulations as well as flight tests in the laboratory environment and under real application scenarios. The evaluation results validate the theoretical research content and demonstrate the performance of the researched AFRS.
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