Coverage Path Planning in Non-Convex Polygon Areas for Orthophotomap Creation Using UAVs
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چکیده
Cílem této práce je implementace algoritmů pro pokrývání nekonvexních oblastí s využitím UAV (Unmanned Aerial Vehicle) a jejich experimentální ověření (jak v simulacích, tak na reálném bezpilotním prostředku). Z existujících algoritmů pro plánování příslušné letové trajektorie byly vybrány tři offline algoritmy využívající exaktní dekompozici oblasti – naivní, Enhanced Exact Cellular Decomposition planner a EnergyAware planner. Zmíněné plánovací algoritmy byly dále upraveny tak, aby respektovaly kinematická omezení letounu a aby byly schopny plánovat i nad oblastí s přítomnými bezletovými zónami. Algoritmy byly včleněny do řídícího systému pro UAV a otestovány na sérii polygonálních oblastí se stupňující se složitostí. Algoritmy jsou následně na základě svého výkonu porovnány a dále analyzovány. Klíčová slova UAV; plánování trajektorií; plánování pokrývacích trajektorií; pokrývání nekonvexních oblastí
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تاریخ انتشار 2017