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VGU RESEARCH REPOSITORY


Please use this identifier to cite or link to this item: https://epub.vgu.edu.vn/handle/dlibvgu/532
Title: Autonomous quadcopter for water sampling application
Authors: Ly Minh Tai
Keywords: Unmanned aerial vehicle (UAV);Sampling water module;Quadcopter;Robotic operation system (ROS);Dronekit;Ardupilot
Issue Date: 2018
Publisher: Vietnamese-German University
Abstract: 
To improve the safety and efficiency of traditional sampling method, I would like to propose a potential solution for monitoring water by applying the automation and unmanned aerial vehicle (UAV) technology. Generally, my idea is using a sampling mechanism attached to UAV to do the sampling task from the air. In details, the project involves two separated module, the first is UAV which is able to fly autonomously to the pre-defined location. The location information of target water area is the input for UAV to perform the mission of flying to the waypoints without the human assistance. The second is developing the sampling water module (SWM) which is responsible for taking the sample of water and assisting the drone in low altitude performance. In other words, the SWM includes not only the sampling mechanism but also an array of assisted sensors for low altitude control in order to keep the stabilization and safety of UAV.
Obviously, there are two advantages of my solutions. Firstly, the user as well as the scientists are benefitted from my solution in terms of health protection and avoiding the risks of driving boat to approach the target water area. In general, the tasks of approaching the polluted water will be handled by drone, while the attitude and all the information of mission will be sent directly to Ground Control Station (GCS) where the user can actively track the mission. The other benefits is that with the help of Global Positioning System (GPS), UAV is able to approach the target point accurately and rapidly, thus, it definitely provide the useful location information for collector to make an efficient water analysing. For example, it is totally able to build a map of water pollution with a large number of specific points in the short time.
My following report will cover 10 chapters including Quadcopter Overview, Quadcopter System Designs, Ardupilot and Flight Control Unit, Introduction to Python Script for UAV, Introduction to ROS for UAV, Quadcopter Simulation with Gazebo, Autonomous sampling water approach, water sampling mechanism, ranging estimation and ROS for additional Module. In detail, the first 6 chapters will describes about the autonomous UAV development and the remaining 4 chapters will cover the sampling water module.
URI(1): http://epub.vgu.edu.vn/handle/dlibvgu/532
Rights: Attribution-NonCommercial 4.0 International
Appears in Collections:Electrical Engineering and Information Technology (EEIT)

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