Path Planning for Search and Rescue Mission using Multicopters
This thesis considers path planning for a low-cost multicopter used in the search
part of a search and rescue mission. Search patterns or trajectories are considered
and evaluated through simulations in MATLAB. How to place the onboard camera
in order to cover as much area as possible and which altitude that gives the most
area coverage without making the subjects too small to detect is discussed.
The proposed search patterns are implemented in the existing software structure
used in this project. The implementation is tested using a ArduPilot software in
the loop simulator, and by flight tests using a hexacopter.
Place, publisher, year, edition, pages
Institutt for teknisk kybernetikk , 2014. , 135 p.
IdentifiersURN: urn:nbn:no:ntnu:diva-25926Local ID: ntnudaim:10753OAI: oai:DiVA.org:ntnu-25926DiVA: diva2:742180
Johansen, Tor Arne, Professor