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Advisor(s)
Abstract(s)
Rescuing survivors in unknown environment can be extreme
difficulty. The use of UAVs to map the environment and also to obtain
remote information can benefit the rescue tasks. This paper proposes
an organizational system for multi-UAVs to map indoor environments
that have been affected by a natural disaster. The robot’s organization
is focused on avoiding possible collisions between swarm’s members, and
also to prevent searching in locations that have already discovered. This
organizational approach is inspired by bees behavior. Thus, the multi-
UAVs must search, in a collaborative way, in order to map the scenario
in the shortest possible time and, consequently, to travel the shortest
reasonable distance. Therefore, three strategies were evaluated in a simulation
scenario created in the V-REP software. The results indicate the
feasibility of the proposed approach and compare the three plans based
on the number of locations discovered and the path taken by each UAV.
Description
Keywords
Unmanned aerial vehicles Multiple UAV Collaborative environment mapping Path planning
Citation
Rosa, Ricardo; Brito, Thadeu; Pereira, Ana I.; Lima, José; Wehrmeister, Marco A. (2021). Using multi-UAV for rescue environment mapping: task planning optimization approach. In CONTROLO 2020: Proceedings of the 14th APCA International Conference on Automatic Control and Soft Computing. p. 507-517. ISBN 978-3-030-58652-2