Area Coverage with Heterogeneous UAVs using Scan Patterns
2016 (English)In: 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR): proceedings, IEEE Robotics and Automation Society, 2016Conference paper (Refereed)
In this paper we consider a problem of scanningan outdoor area with a team of heterogeneous Unmanned AirVehicles (UAVs) equipped with different sensors (e.g. LIDARs).Depending on the availability of the UAV platforms and themission requirements there is a need to either minimise thetotal mission time or to maximise certain properties of thescan output, such as the point cloud density. The key challengeis to divide the scanning task among UAVs while taking intoaccount the differences in capabilities between platforms andsensors. Additionally, the system should be able to ensure thatconstraints such as limit on the flight time are not violated.We present an approach that uses an optimisation techniqueto find a solution by dividing the area between platforms,generating efficient scan trajectories and selecting flight andscanning parameters, such as velocity and flight altitude. Thismethod has been extensively tested on a large set of randomlygenerated scanning missions covering a wide range of realisticscenarios as well as in real flights.
Place, publisher, year, edition, pages
IEEE Robotics and Automation Society, 2016.
Multi-agent coordination, Autonomous search and rescue, Unmanned ground aerial and marine vehicles
IdentifiersURN: urn:nbn:se:liu:diva-132376OAI: oai:DiVA.org:liu-132376DiVA: diva2:1044508
14th IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), Lausanne, Switzerland, October 23-27, 2016
FunderSwedish Foundation for Strategic Research Swedish Research CouncilELLIIT - The Linköping‐Lund Initiative on IT and Mobile CommunicationsLinnaeus research environment CADICS