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Motion planning for coverage with vision-inspired sensors
KTH, School of Electrical Engineering (EES).
2016 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this work, we address the problem of deploying a team of mobile sensing agents for monitoring a 3-D structure. A function for measuring the quality of the vision is defined and we use a line search method for optimizing the pose of single sensors. The algorithm is extended for collaborative coverage, exploiting intermittent communication between pairs of agents. The algorithm is enriched with a collision avoidance method for working in a constrained environment. All the proposed algorithms are tested in simulations and real-word aerial robots.

Abstract [sv]

Sammanfattning: Denna avhandling är inriktad på problemet att distribuera ett uppsättning av mobila sensorer för övervakningen av en 3-dimensionella struktur. En funktion för att mäta kvaliteten på visionen definieras och vi använder en rad sökmetod för att optimera posen av varje sensor. Algoritmen algoritmen utvidgas till multiagent täckning, genom att använda intermittent kommunikation mellan par av agenter. Algoritmen är berikad med en kollisionsundvikande metod för att arbeta i en begränsad miljö. Alla de föreslagna algoritmerna testas i simuleringar samt verkliga flygrobotar.

Place, publisher, year, edition, pages
2016. , 69 p.
Series
EES Examensarbete / Master Thesis, TRITA-EE 2016:158
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-194314OAI: oai:DiVA.org:kth-194314DiVA: diva2:1039132
Examiners
Available from: 2016-10-21 Created: 2016-10-21 Last updated: 2016-11-15Bibliographically approved

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