Date of Award

Summer 8-12-2024

Degree Type

Non-Thesis Project

Degree Name

Master of Science in Geoscience: Geological Engineering Option

Department

Geology

Committee Chair

Mary MacLaughlin

First Advisor

Xiaobing Zhou

Second Advisor

Scott Rosenthal

Abstract

This report summarizes a research project focused on development of a methodology for evaluating the performance of various unmanned aerial vehicles (UAVs, commonly referred to as drones) and robotic platforms in GPS-denied environments, highlighting a clear stratification based on technological sophistication and design intent. A series of flight trials were designed and implemented in various environments including indoor spaces with various geometries and obstacles, and an underground mine. These trials examined signal range from the unmanned platform to the controller, the ability to navigate through confined spaces and obstacles, the overall ease-of-use and responsiveness of controls, as well as specialized features and abilities of each platform. Highly advanced drones like the Elios 2 and Elios 3 exhibit superior maneuverability and reliability due to their advanced sensor suites and navigation algorithms, though their high cost limits their use to specialized applications. SPOT, a four-legged robot, offers intuitive control and unique features like an extendable arm, but its limited signal range and large size confine its use to line-of-sight operations. Conversely, custom-built drones with minimal sensor packages, such as the Tommyknocker, perform well in confined spaces, providing a cost-effective option for high-risk areas despite their lower camera resolution and shorter battery life. Mid-level drones like the Phantom 4 and Mavic 3E, not specifically designed for indoor or GPS-denied applications, show suboptimal performance in these environments due to their sophisticated obstacle avoidance sensors. However, the Mavic 3E can show superior performance in larger underground spaces and exhibit long battery life and signal range. The study underscores the necessity of aligning drone capabilities with operational requirements. It was demonstrated that both highly specialized and simple platforms can be effective in the appropriate contexts, whereas general-purpose drones may struggle but can be used effectively in some situations.

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