2,603 research outputs found
Obstacle-aware Adaptive Informative Path Planning for UAV-based Target Search
Target search with unmanned aerial vehicles (UAVs) is relevant problem to
many scenarios, e.g., search and rescue (SaR). However, a key challenge is
planning paths for maximal search efficiency given flight time constraints. To
address this, we propose the Obstacle-aware Adaptive Informative Path Planning
(OA-IPP) algorithm for target search in cluttered environments using UAVs. Our
approach leverages a layered planning strategy using a Gaussian Process
(GP)-based model of target occupancy to generate informative paths in
continuous 3D space. Within this framework, we introduce an adaptive replanning
scheme which allows us to trade off between information gain, field coverage,
sensor performance, and collision avoidance for efficient target detection.
Extensive simulations show that our OA-IPP method performs better than
state-of-the-art planners, and we demonstrate its application in a realistic
urban SaR scenario.Comment: Paper accepted for International Conference on Robotics and
Automation (ICRA-2019) to be held at Montreal, Canad
Online Informative Path Planning for Active Classification on UAVs
We propose an informative path planning (IPP) algorithm for active
classification using an unmanned aerial vehicle (UAV), focusing on weed
detection in precision agriculture. We model the presence of weeds on farmland
using an occupancy grid and generate plans according to information-theoretic
objectives, enabling the UAV to gather data efficiently. We use a combination
of global viewpoint selection and evolutionary optimization to refine the UAV's
trajectory in continuous space while satisfying dynamic constraints. We
validate our approach in simulation by comparing against standard "lawnmower"
coverage, and study the effects of varying objectives and optimization
strategies. We plan to evaluate our algorithm on a real platform in the
immediate future.Comment: 7 pages, 4 figures, submission to International Symposium on
Experimental Robotics 201
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