Téma:TRRT-path method for cooperative surveillance by group of UAVs
Vedoucí:Ing. Martin Saska Dr. rer. nat.
Vypsáno jako:Práce v týmu a její organizace
Popis:The aim of this project is to design, develop and experimentally verified a motion planning algorithm for simultaneous solving the problems of optimal coverage and deployment (defined in [3]) in autonomous surveillance by a team of Micro Aerial Vehicles (MAVs).
Work plan:
-To implement the motion planning algorithm RRT-path [1,2], to extend it for solving the problem of autonomous cooperative surveillance by MAVs relatively localized using the onboard system [5] and to integrate it with TRRT algorithm [6].
-To verify the implemented system in Gazebo robotic simulator under ROS.
-To adapt the system for using with platforms of Multi-Robot Systems group at CTU and to prepare a set of trajectories for experimental evaluation of their feasibility by real MAVs.
Literatura:[1] V. Vonasek, J. Faigl, T. Krajnik and L. Preucil. A Sampling Schema for Rapidly Exploring Random Trees Using a Guiding Path. In Proceedings of the 5th European Conference on Mobile Robots. 2011. [2] V. Vonasek, J. Faigl, T. Krajnik and L. Preucil. RRT-Path: a guided Rapidly exploring Random Tree. In Robot Motion and Control. 2009. [3] M. Saska, J. Chudoba, L. Preucil, J. Thomas, G. Loianno, A. Tresnak, V. Vonasek and V. Kumar. Autonomous Deployment of Swarms of Micro-Aerial Vehicles in Cooperative Surveillance. In Proceedings of International Conference on Unmanned Aircraft Systems (ICUAS). 2014. [4] L. Dubins. On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents. American Journal of Mathematics, 79(3):497–516, July 1957. [5] T. Krajnik, M. Nitsche, J. Faigl, P. Vanek, M. Saska, L. Preucil, T. Duckett and M. Mejail. A Practical Multirobot Localization System. Journal of Intelligent & Robotic Systems 76(3-4):539-562, 2014. [6] L. Jaillet, J. Cortés and T. Siméon, Sampling-Based Path Planning on Configuration-Space Costmaps, IEEE Transactions on Robotics, vol. 26, no. 4, pp. 635-646, Aug. 2010.
Vypsáno dne:22.02.2017
Max. počet studentů:6
Přihlášení studenti:

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