Obstacle avoidance algorithms analysis and implementation for quadcopter platform using indoor positioning system / (رقم التسجيلة. 177119)
[ عرض عادي ]
| 000 -LEADER | |
|---|---|
| fixed length control field | 04213namaa22004451i 4500 |
| 003 - CONTROL NUMBER IDENTIFIER | |
| control field | EG-GICUC |
| 005 - أخر تعامل مع التسجيلة | |
| control field | 20260115120421.0 |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION | |
| fixed length control field | 251228s2025 ua a|||frm||| 000 0 eng d |
| 040 ## - CATALOGING SOURCE | |
| Original cataloguing agency | EG-GICUC |
| Language of cataloging | eng |
| Transcribing agency | EG-GICUC |
| Modifying agency | EG-GICUC |
| Description conventions | rda |
| 041 0# - LANGUAGE CODE | |
| Language code of text/sound track or separate title | eng |
| Language code of summary or abstract | eng |
| -- | ara |
| 049 ## - Acquisition Source | |
| Acquisition Source | Deposit |
| 082 04 - DEWEY DECIMAL CLASSIFICATION NUMBER | |
| Classification number | 629.1 |
| 092 ## - LOCALLY ASSIGNED DEWEY CALL NUMBER (OCLC) | |
| Classification number | 629.1 |
| Edition number | 21 |
| 097 ## - Degree | |
| Degree | M.Sc |
| 099 ## - LOCAL FREE-TEXT CALL NUMBER (OCLC) | |
| Local Call Number | Cai01.13.01.M.Sc.2025.Ah.O |
| 100 0# - MAIN ENTRY--PERSONAL NAME | |
| Authority record control number or standard number | Ahmed Ali Elsayed Eltahan, |
| Preparation | preparation. |
| 245 10 - TITLE STATEMENT | |
| Title | Obstacle avoidance algorithms analysis and implementation for quadcopter platform using indoor positioning system / |
| Statement of responsibility, etc. | by Ahmed Ali Elsayed Eltahan ; Supervisors Prof. Dr. Gamal M. El Bayoumi, Dr. Osama S. Mohamady, Dr. Mohannad A. Draz. |
| 246 15 - VARYING FORM OF TITLE | |
| Title proper/short title | تحليل وتنفيذ خوارزميات تجنب العقبات لمنصة الطائرة الرباعية باستخدام نظام تحديد المواقع الداخلي |
| 264 #0 - PRODUCTION, PUBLICATION, DISTRIBUTION, MANUFACTURE, AND COPYRIGHT NOTICE | |
| Date of production, publication, distribution, manufacture, or copyright notice | 2025. |
| 300 ## - PHYSICAL DESCRIPTION | |
| Extent | 377 pages : |
| Other physical details | illustrations ; |
| Dimensions | 30 cm. + |
| Accompanying material | CD. |
| 336 ## - CONTENT TYPE | |
| Content type term | text |
| Source | rda content |
| 337 ## - MEDIA TYPE | |
| Media type term | Unmediated |
| Source | rdamedia |
| 338 ## - CARRIER TYPE | |
| Carrier type term | volume |
| Source | rdacarrier |
| 502 ## - DISSERTATION NOTE | |
| Dissertation note | Thesis (M.Sc)-Cairo University, 2025. |
| 504 ## - BIBLIOGRAPHY, ETC. NOTE | |
| Bibliography, etc. note | Bibliography: pages 373-377. |
| 520 #3 - SUMMARY, ETC. | |
| Summary, etc. | This study focuses on the development and testing of obstacle detection and avoidance <br/>strategies for autonomous quadcopters. LiDAR sensor were chosen for its precision and <br/>compatibility with the Artificial Potential Field (APF) and Vector Field Histogram (VFH) <br/>algorithms. The quadcopter system, built with the PX4 autopilot, Marvelmind Indoor <br/>Positioning System, and RPLidar A1M8, was validated through simulation in Gazebo and <br/>real-world experiments. Simulations revealed APF’s effectiveness for simple environments <br/>but noted oscillatory behavior near obstacles and challenges with local minima. VFH <br/>provided smoother navigation by leveraging polar histograms but required higher <br/>computational power. Real-world tests confirmed simulation accuracy, with APF showing <br/>reduced oscillations due to parameter updates and VFH efficiently navigating gaps <br/>between obstacles. APF achieved higher sampling rates, while VFH demonstrated superior <br/>path-planning precision. The study highlights the reliability of simulation as a development <br/>tool and demonstrates the effectiveness of LiDAR-based systems for real-time obstacle <br/>avoidance. |
| 520 #3 - SUMMARY, ETC. | |
| Summary, etc. | ركزت الدراسة على تطوير واختبار استراتيجيات تجنب العقبات للطائرات الرباعية باستخدام مستشر LiDAR وخوارزميتي APF وVFH. تم بناء النظام باستخدام الطيار الآلي PX4، ونظام تحديد المواقع الداخلي Marvelmind، ومستشعر RPLidar A1M8. تم التحقق من فعالية النظام عبر المحاكاة والتجارب الواقعية. أظهرت المحاكاة أن خوارزمية APF فعالة في البيئات البسيطة لكنها تعاني من التذبذبات. في المقابل، قدمت خوارزمية VFH تنقلًا أكثر سلاسة ودقة. أكدت التجارب الواقعية نتائج المحاكاة، حيث تفوقت APF في معدلات العينات، بينما أظهرت VFH أداءً أفضل في تخطيط المسارات. يساهم البحث في تحسين أمان وكفاءة الطائرات الرباعية في البيئات الداخلية. |
| 530 ## - ADDITIONAL PHYSICAL FORM AVAILABLE NOTE | |
| Issues CD | Issues also as CD. |
| 546 ## - LANGUAGE NOTE | |
| Text Language | Text in English and abstract in Arabic & English. |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name entry element | Aerospace Engineering |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name entry element | هندسة الطيران والفضاء |
| 653 #1 - INDEX TERM--UNCONTROLLED | |
| Uncontrolled term | Obstacle |
| -- | Quadcopter |
| -- | Pixhawk |
| -- | Marvelmind |
| -- | LiDAR |
| -- | عقبة |
| -- | طائرة رباعية |
| 700 0# - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Gamal M. El Bayoumi |
| Relator term | thesis advisor. |
| 700 0# - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Osama S. Mohamady |
| Relator term | thesis advisor. |
| 700 0# - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Mohannad A. Draz. |
| Relator term | thesis advisor. |
| 900 ## - Thesis Information | |
| Grant date | 01-01-2025 |
| Supervisory body | Gamal M. El Bayoumi |
| -- | Osama S. Mohamady |
| -- | Mohannad A. Draz. |
| Discussion body | Ahmed Ali Abo Elsoud |
| -- | Magdy Othman Tantawy |
| Universities | Cairo University |
| Faculties | Faculty of Engineering |
| Department | Department of Aerospace Engineering |
| 905 ## - Cataloger and Reviser Names | |
| Cataloger Name | Shimaa |
| Reviser Names | Eman Ghareb |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Source of classification or shelving scheme | Dewey Decimal Classification |
| Koha item type | Thesis |
| Edition | 21 |
| Suppress in OPAC | No |
| Source of classification or shelving scheme | Home library | Current library | Date acquired | Inventory number | Full call number | Barcode | Date last seen | Effective from | Koha item type |
|---|---|---|---|---|---|---|---|---|---|
| Dewey Decimal Classification | المكتبة المركزبة الجديدة - جامعة القاهرة | قاعة الرسائل الجامعية - الدور الاول | 28.12.2025 | 92968 | Cai01.13.01.M.Sc.2025.Ah.O | 01010110092968000 | 28.12.2025 | 28.12.2025 | Thesis |