Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Multiple quadcopters exploring an unknown environment
KTH, School of Engineering Sciences (SCI).
KTH, School of Engineering Sciences (SCI).
2017 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
Abstract [en]

In this project a simulation of multiple quadcopters is created to solvethe problem of exploring and mapping an unknown environment. Thetwo major challengers are allocation of the route of the quadcopters tooptimize the mapping, as well as the merging of the three-dimensionalsub maps to get a final result. Occupancy grid maps will be used forthe allocation task to calculate the probability that a cell is occupiedby an obstacle. A cost and an utility function will also be calculatedfor every cell next to the unexplored areas to make a decisions for theroutes of the quadcopters. The cost makes the quadcopter travel tothe closest unexplored cell that is not occupied with some probabilitywhile the utility function works in a way that several quadcopters willnot travel to the same area. The combination of these two calculatesthe optimal path. The optimal merging of the sub maps is then to findan optimal rigid transformation that optimally aligns two sets of pointsin R3 in a least square sent. To do this an optimal translation andan optimal rotation using Singular Value Decomposition is calculated.Finally, algorithms which can be implemented in any suitable softwarefor simulation and demonstration of how this things can be handledin an practical environment, is described.

Place, publisher, year, edition, pages
2017. , 23 p.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-210872OAI: oai:DiVA.org:kth-210872DiVA: diva2:1120605
Examiners
Available from: 2017-07-06 Created: 2017-07-06 Last updated: 2017-07-06Bibliographically approved

Open Access in DiVA

fulltext(2216 kB)3 downloads
File information
File name FULLTEXT01.pdfFile size 2216 kBChecksum SHA-512
ece54e897bf562e61c6382f6cb8fc4d3c0bfab7ac05a116da44df882e613f232e69cf747587996e636b16a93f5290ea8fd2fbf7553ed9f4a307f1bac9f0150fe
Type fulltextMimetype application/pdf

By organisation
School of Engineering Sciences (SCI)
Engineering and Technology

Search outside of DiVA

GoogleGoogle Scholar
Total: 3 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 10 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf