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Grid-based coverage path planning for multiple UAVS in search and rescue applications.
Thesis (MEng)--Stellenbosch University, 2023.
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| Format: | Thesis |
| Language: | en_ZA en_ZA |
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Stellenbosch : Stellenbosch University
2023
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| _version_ | 1867613759012339712 |
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| access_status_str | Open Access |
| author | Botes, Welri |
| author2 | Engelbrecht, Japie
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| author_browse | Botes, Welri Engelbrecht, Japie |
| author_facet | Engelbrecht, Japie
Botes, Welri |
| author_sort | Botes, Welri |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description | Thesis (MEng)--Stellenbosch University, 2023. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/127387 |
| institution | Stellenbosch University (South Africa) |
| language | en_ZA en_ZA |
| last_indexed | 2026-06-10T12:41:14.564Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2023 |
| publishDateRange | 2023 |
| publishDateSort | 2023 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/127387 Grid-based coverage path planning for multiple UAVS in search and rescue applications. Botes, Welri Engelbrecht, Japie Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering. Search and rescue aircraft Vehicles, Remotely piloted Robotics -- Human factors Thesis (MEng)--Stellenbosch University, 2023. ENGLISH ABSTRACT: This thesis investigates the problem of automated search and rescue (SAR) using multiple unmanned aerial vehicles (UAVs). The problem is formulated as a distributed and offline multi-robot coverage path planning (MCPP) problem. Using multiple robots generally reduces the time to detect survivors, who are assumed to remain stationary for the duration of the automated search. The survivor detection is assumed to be performed using downward-facing onboard cameras. The UAVs are assumed to fly at a constant altitude during the search, which reduces the problem to two dimensions. The environment is assumed to be known and is discretised to a grid based on the required ground sampling distance (GSD) to guarantee survivor detection. The static obstacles in the environment are represented by occupied cells. The free cells in the search area is divided into equal-sized, contiguous sub-regions to be searched by individual UAVs. This eliminates the need for explicit collision avoidance between the UAVs. A closed-loop coverage path is then generated for each subregion using a spanning tree coverage (STC) technique. The coverage paths are modified to account for the dynamic constraints of the UAVs. A central deployment strategy was developed so that all the UAVs take off and land at the same location. Flight schedules and a refuelling protocol were also developed to account for the limited endurance of the UAVs. The automated search approach using multiple UAVs was tested and evaluated in simulation using topographic maps of real-world locations representative of ground, mountainous, and marine environments. The simulation results show that the UAVs would be able to cover the search area in a reasonable amount of time, with favourable survivor detection times. The system should therefore be feasible for practical implementation. AFRIKAANS OPSOMMING: Hierdie tesis ondersoek die probleem van geoutomatiseerde soek-en-redding (SAR) met behulp van veelvuldige onbemande lugvoertuie (UAV’s). Die probleem is geformuleer as ’n verspreide en aanlyn multi-robot dekkingspadbeplanning (MCPP) probleem. Die gebruik van veelvuldige UAVs verminder oor die algemeen die tyd wat dit neem om oorlewendes op te spoor, met die aanvaarding dat hulle op een plek bly vir die duur van die outomatiese soektog. Die opsporing van oorlewendes word tipies uitgevoer met kameras wat afwaarts wys. Daar word aanvaar dat die UAV’s tydens die soektog op ’n konstante hoogte vlieg, wat die probleem tot twee dimensies vereenvoudig. Dit word aangeneem dat die omgewing bekend is en gediskretiseer word na ’n rooster gebaseer op die vereiste grondmonstersafstand (GSD) wat nodig is om oorlewende opsporing te waarborg. Die statiese hindernisse in die omgewing word verteenwoordig deur besette selle. Die vrye selle in die soekgebied word verdeel in gelyke, aangrensende substreke om deur individuele UAV’s deursoek te word. Dit elimineer die behoefte aan eksplisiete botsingvermyding tussen die UAV’s. ’n Geslote-lus dekkingspad word dan vir elke substreek gegenereer deur ’n spannende boom dekking (STC) tegniek te gebruik. Die dekkingspaaie word aangepas om voorsiening te maak vir die dinamiese beperkings van die UAV’s. ’n Sentrale ontplooiingstrategie is ontwikkel sodat al die UAV’s op dieselfde plek opstyg en land. Vlugskedules en ’n brandstofhervullingsprotokol is ook ontwikkel om die beperkte brandstofvermoë van die UAV’s in ag te neem. Die outomatiese soekbenadering met behulp van veelvuldige UAV’s is getoets en geëvalueer in simulasie met behulp van topografiese kaarte van werklike liggings wat verteenwoordigend is van grond-, berg- en mariene omgewings. Die simulasie resultate toon dat die UAV’s die soekgebied binne ’n redelike tyd sal kan dek, met gunstige oorlewende opsporingstye. Die stelsel behoort dus uitvoerbaar te wees vir praktiese implementering. Masters 2023-03-06T08:43:12Z 2023-05-18T07:19:33Z 2023-03-06T08:43:12Z 2023-05-18T07:19:33Z 2023-03 Thesis http://hdl.handle.net/10019.1/127387 en_ZA en_ZA Stellenbosch University xx, 207 pages : illustrations application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | Search and rescue aircraft Vehicles, Remotely piloted Robotics -- Human factors Botes, Welri Grid-based coverage path planning for multiple UAVS in search and rescue applications. |
| title | Grid-based coverage path planning for multiple UAVS in search and rescue applications. |
| title_full | Grid-based coverage path planning for multiple UAVS in search and rescue applications. |
| title_fullStr | Grid-based coverage path planning for multiple UAVS in search and rescue applications. |
| title_full_unstemmed | Grid-based coverage path planning for multiple UAVS in search and rescue applications. |
| title_short | Grid-based coverage path planning for multiple UAVS in search and rescue applications. |
| title_sort | grid based coverage path planning for multiple uavs in search and rescue applications |
| topic | Search and rescue aircraft Vehicles, Remotely piloted Robotics -- Human factors |
| url | http://hdl.handle.net/10019.1/127387 |
| work_keys_str_mv | AT boteswelri gridbasedcoveragepathplanningformultipleuavsinsearchandrescueapplications |