6,224 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
RACER: Rapid Collaborative Exploration with a Decentralized Multi-UAV System
Although the use of multiple Unmanned Aerial Vehicles (UAVs) has great
potential for fast autonomous exploration, it has received far too little
attention. In this paper, we present RACER, a RApid Collaborative ExploRation
approach using a fleet of decentralized UAVs. To effectively dispatch the UAVs,
a pairwise interaction based on an online hgrid space decomposition is used. It
ensures that all UAVs simultaneously explore distinct regions, using only
asynchronous and limited communication. Further, we optimize the coverage paths
of unknown space and balance the workloads partitioned to each UAV with a
Capacitated Vehicle Routing Problem(CVRP) formulation. Given the task
allocation, each UAV constantly updates the coverage path and incrementally
extracts crucial information to support the exploration planning. A
hierarchical planner finds exploration paths, refines local viewpoints and
generates minimum-time trajectories in sequence to explore the unknown space
agilely and safely. The proposed approach is evaluated extensively, showing
high exploration efficiency, scalability and robustness to limited
communication. Furthermore, for the first time, we achieve fully decentralized
collaborative exploration with multiple UAVs in real world. We will release our
implementation as an open-source package.Comment: Conditionally accpeted by TR
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
Unmanned Aerial Vehicle (UAV) mission planning based on Fast Marching Square (FM²) planner and Differential Evolution (DE)
Nowadays, mission planning for Unmanned Aerial Vehicles (UAVs) is a very attractive
research field. UAVs have been a research focus for many purposes. In military
and civil fields, the UAVs are very used for different missions. Many of these studies
require a path planning to perform autonomous flights. Several problems related to
the physical limitations of the UAV arise when the planning is carried out, as well as
the maintenance of a fixed flight level with respect to the ground to capture videos
or overlying images.
This work presents an approach to plan missions for UAVs keeping a fixed flight
level constraint. An approach is proposed to solve these problems and to generate
effective paths in terms of smoothness and safety distance in two different types of
environments: 1) 3D urban environments and 2) open field with non-uniform terrain
environments.
Many proposed activities to be carried out by UAVs in whatever the environment
require a control over the altitude for different purposes: energy saving and
minimization of costs are some of these objectives. In general terms, the planning
is required to avoid all obstacles encountered in the environment and to maintain
a fixed flight level during the path execution. For this reason, a mission planning
requires robust planning methods.
The method used in this work as planner is the Fast Marching Square (FM2)
method, which generates a path free of obstacles. As a novelty, the method proposed
includes two adjustment parameters. Depending on the values of these parameters,
the restriction of flight level can be modified, as well as the smoothness and safety
margins from the obstacles of the generated paths. The Dubins airplane model
is used to check if the path resulting from the FM2 is feasible according to the
constraints of the UAV: its turning rate, climb rate and cruise speed.
Besides, this research also presents a novel approach for missions of Coverage
Path Planning (CPP) carried out by UAVs in 3D environments. These missions are
focused on path planning to cover a certain area in an environment in order to carry
out tracking, search or rescue tasks. The methodology followed uses an optimization
process based on the Differential Evolution (DE) algorithm in combination with the
FM2 planner.
Finally, the UAVs formation problem is introduced and addressed in a first stage
using the planner proposed in this thesis.
A wide variety of simulated experiments have been carried out to illustrate the
efficiency and robustness of the approaches presented, obtaining successful results
in different urban and open field 3D environments.Hoy en día la planificación de misiones para vehículos aéreos no tripulados (UAV)
es un campo de investigación muy atractivo. Los UAV son foco de investigación
en numerosas aplicaciones, tanto en el campo civil como militar. Muchas de estas
aplicaciones requieren de un sistema de planificación de ruta que permita realizar
vuelos autónomos y afrontar problemas relacionados con las limitaciones físicas del
UAV y con requerimientos como el nivel de vuelo sobre el suelo para, entre otras
funciones, poder capturar videos o imágenes.
Este trabajo presenta una propuesta de planificador para vehículos aéreos no
tripulados que permite resolver los problemas citados previamente, incluyendo en la
planificación las consideraciones cinemáticas del UAV y las restricciones de nivel de
vuelo, generando rutas suaves, realizables y suficientemente seguras para dos tipos
diferentes de entornos 3D: 1) entornos urbanos y 2) campos abiertos con terrenos
no uniformes.
El método utilizado en esta tesis como base para la planificación es el método
Fast Marching Square (FM2), que genera un camino libre de obstáculos. Como
novedad, el método propuesto incluye dos parámetros de ajuste. Dependiendo de
los valores de estos parámetros, se puede modificar la restricción de nivel de vuelo,
así como la suavidad y los márgenes de seguridad respecto a los obstáculos de las
rutas generadas. El modelo cinemático de Dubins se utiliza para verificar si la ruta
resultante de nuestro planificador es realizable de acuerdo con las restricciones del
UAV: su velocidad de giro, velocidad de ascenso y velocidad de crucero.
Además, esta tesis también presenta una propuesta novedosa para la planificación
de misiones de Coverage Path Planning (CPP) en entornos 3D. Estas misiones se
centran en la planificación de rutas para cubrir un área determinada de un entorno
con el fin de llevar a cabo tareas de rastreo, búsqueda o rescate. La metodología
seguida utiliza un proceso de optimización basado en el algoritmo Differential Evolution
(DE) en combinación con nuestro planificador FM2.
Como parte final de la tesis, el problema de formación de UAVs se introduce y
aborda en una primera etapa utilizando el planificador FM2 propuesto.Programa Oficial de Doctorado en Ingeniería Eléctrica, Electrónica y AutomáticaPresidente: Antonio Giménez Fernández.- Secretario: Luis Santiago Garrido Bullón.- Vocal: Raúl Suárez Feijó
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