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Battery and WiFi aware 3D exploration based on temporal logics
KTH, School of Electrical Engineering and Computer Science (EECS).
2019 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Unmanned Aerial Vehicle (UAV) exploration is a rising field of interest in recent years. UAVs are agile and able to enter areas that humans cannot, making them ideal for exploration. To this end, many exploration algorithms have been developed and proven to work well in using UAVs. However, not much research has been done on exploration while taking into account both the WiFi signal as well as the battery life. Thus the subject of this thesis is 3D exploration with a UAV taking into consideration WiFi and battery. The aim is to closely follow the real-life situation, where the WiFi signal and battery life are not unlimited.

Temporal logics will be used as a tool of action planning for the UAV, to meet the desired constraints on WiFi and battery life during exploration. A Büchi Automaton is created from a Linear Temporal Logics (LTL) formula that takes the desired objective into consideration. This Büchi Automaton is used to model and control the actions of the UAV. The thesis project is proven with simulation results which shows that the UAV is able to carry out the specified actions and objectives.

Abstract [sv]

UAV-utforskning är ett studieområde som de senaste åren fått större uppmärksamet. UAVer är smidiga och kan komma in i områden som människor inte kan, vilket gör dem ideala för utforskning. För detta ändamål har många utforskningsalgoritmer utvecklats och visat sig fungera bra med UAVer. Dock har förhållandevis lite arbete gjorts i utforskning där WiFi-signal och batterinivå har tagits i åtanke under utforskningen, vilket är ämnet för denna rapport. Syftet är att nära följa den verkliga situationen, där WiFi-signalen och batteritiden inte är obegränsad.

Temporal logik används som ett verktyg för handlingsplanering för UAV, för att möta de önskade begränsningarna på WiFi och batteri under utforskningen. En Büchi Automaton skapas sedan från en LTL- formel där WiFi-signal och batteri har tagits i åtanke. Denna Büchi Automaton används för att modellera och kontrollera handligen för UAV. Detta projekt bevisas med simuleringsresultat som visar att UAV kan genomföra de angivna handlingarna och målen.

Place, publisher, year, edition, pages
2019. , p. 35
Series
TRITA-EECS-EX ; 2019:652
National Category
Computer and Information Sciences
Identifiers
URN: urn:nbn:se:kth:diva-264973OAI: oai:DiVA.org:kth-264973DiVA, id: diva2:1376239
Educational program
Master of Science in Engineering - Electrical Engineering
Supervisors
Examiners
Available from: 2020-01-17 Created: 2019-12-09 Last updated: 2020-01-17Bibliographically approved

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