Observatorio de I+D+i UPM

Memorias de investigación
Capítulo de libro:
Coverage Path Planning to Survey Large Outdoor Areas with Aerial Robots: A Comprehensive Analysis
Año:2012
Áreas de investigación
  • Automática
Datos
Descripción
The use of Unmanned Aerial Vehicles (i.e. UAVs or Aerial Robots) to perform tasks in large outdoor areas is widely demanded in many civil applications such as agriculture, search & rescue, surveillance & exploration, inspection, humanitarian de-mining, fire fighting, etc. Frequently, the optimum way to obtain information from a large area is by using Aerial Robots. Nowadays, they are able to autonomously travel across the full target area carrying sensors (i.e.,. Visual or infrared cameras) but the mission planner has to ensure full coverage while avoiding unnecessary deviations that would waste time and energy. The Aerial Robot, therefore, has to cover the full area to be monitored by following a continuous and smooth trajectory and avoiding obstacles or prohibited areas. It is also desirable to minimize the number of changes in direction and revisiting the minimum number of points. Furthermore, since not all areas are suitable for taking off or landing with, the trajectory must ensure starting and ending points in places that fulfill all the requirements (safety margins, space enough for operation, capability for picking up and dropping off, accessibility). Therefore, in order to properly plan the task that an aerial robot has to perform in surveillance missions of large outdoor areas, the motion planning subfield known as Coverage Path Planning (CPP) is addressed. Motivated by the demand for this type of planning in our past and present projects, a formal analysis of the CPP problem is presented, in particular emphasizing a grid-based approach where a priori map of the environment is available. This map is approximately decomposed into cells, the grid-based approaches are feasible solutions when the environment is static and well known in advance, and also when precision and processing time are not in issue. The presented methodologies have not only been simulated but also applied in real systems, where their effectiveness has been validated.
Internacional
Si
DOI
978-1463789442
Edición del Libro
Editorial del Libro
ISBN
978-1463789442
Serie
Título del Libro
INTRODUCTION TO MODERN ROBOTICS II
Desde página
1
Hasta página
18
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Joao Ricardo Pereira Valente (UPM)
  • Autor: Antonio Barrientos Cruz (UPM)
  • Autor: Jaime del Cerro Giner (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Robótica y Cibernética
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
S2i 2021 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)