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Path Planning for Search and Rescue Mission using Multicopters
Norwegian University of Science and Technology, Faculty of Information Technology, Mathematics and Electrical Engineering, Department of Engineering Cybernetics.
2014 (English)MasteroppgaveStudent thesis
Abstract [en]

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.
URN: urn:nbn:no:ntnu:diva-25926Local ID: ntnudaim:10753OAI: diva2:742180
Available from: 2014-08-31 Created: 2014-08-31 Last updated: 2014-08-31Bibliographically approved

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