[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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192 D. Cedrych et al. mention the collision free path planning, the vehicle stabilizing in changing weather conditions, determining the aerial position and orientation and many others. Due to the a large number of possible applications and benefits related to them, intensive researches have been done in this area. [1, 14, 15, 18, 19, 21, 24]. This paper addresses the first of pointed out issues - the problem of determining the collision free path. Intended application of the developed UAV control system is performing autonomously the patrolling mission over an unstructured terrain. The goal of the planner is determining the set of way points that make the route the vehicle is intended to follow. There are many methods and algorithms of planning collision free paths, derived in a straight-line from mobile robotics [3, 6, 7, 8, 9, 10, 11, 16, 17, 20, 25]. In this work we present simulation results of our algorithm introduced in previous work [22, 4] based on the extensive mathematical research [32, 33, 34] and probabilistic approach [2, 12, 13, 23, 28] to solving the planning problem. The planning process is based on the topological map that contains information about the height of the terrain over which the vehicle is intended to perform its patrol mission. The work of the method is illustrated with an exemplary real map of a fragment of the national border between Poland and Slovakia. This fragment of the border is mountainous and it follows that the border line is complex. 2 Overview of the System In this section let us recall the conceptual diagram of the UAV control system with the planner module [22]. Figure 1 shows general diagram of the navigation and control system of the UAV. It is created on the base of a typical, known from mobile robotics hierarchical, hybrid architecture. Fig. 1. The conceptual diagram of the UAV control system with the planner module being the point of the work presented
Probabilistic Approach to Planning Collision Free Path of UAV 193 At the top level of the system, there is a module called planner which is the point of this study. The human operator assigns mission by specifying the places (points) the vehicle is intended to fly over. The role of the planner is to generate the set of way-points that determine the collision free path. The planner module is also provided with data about topology of the terrain. Using this data the model which is used further in the planning process is created. The next module is responsible for generating the collision free trajectory which enables the flight between the way-points. The navigation module has to be also provided with information about the position and orientation in space. Determining the coordinates, and orientation is performed by the localization subsystem. The plan created by the planner does not take into account the dynamics of the space inside of which the vehicle operates. Therefore the navigation system has to be also provided with data about existence of objects that can appear in the surrounding of the vehicle. This information is collected by the sensory system. The bottom level of this architecture is the motion control system which is to execute the trajectory generated by the navigation system like in [29]. As it was mentioned before the core of this article is just the design and simulation evaluation of the algorithm dedicated to work with the planner module. The process of the design is presented and described in the rest part of this paper. In real application GPS [30] and an opto-electronic gimbal for image stabilization would be required [27]. 2.1 Assumptions The planning system presented here is designed for the UAV which purpose is patrolling the border of the state. However it is created to satisfy a number of conditions and assumptions. They make some limitations for possible application and the framework in which the system work properly. So it is important to clearly point them out and discus. The following are the main assumptions that were followed during the design process: • The patrol mission is performed on the given, priory stated height . • There is a map that provides information about height of the terrain points. • The maneuver of avoiding obstacles is preferred to the flying over them. • The UAV cannot cross the state border during its mission. The assumptions pointed out, are the main limitations of the planning method presented. However they are realistic and justified and they do not limit the system to only simulation studies, and make the method applicable in real systems. 2.2 Problem Statement Let us first define the mission to be performed by the UAV [31]. The mission in fact is the collection of locations defined by human operator the vehicle is intended to fly over as well as the altitude of the flight. Let us denote the mission as the set:
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Studies in Computational Intelligen
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Aleksander Nawrat · Zygmunt Kuś E
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“In God We Trust, All others we o
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VIII Preface valuable information i
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Contents Part I: Design of Object D
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Contents XIII Technology Developmen
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XVI List of Contributors Adam Czorn
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XVIII List of Contributors Henryk M
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XX List of Contributors Józef Wron
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2 Design of Object Detection, Recog
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4 A. Babiarz et al. 1 Introduction
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6 A. Babiarz et al. The description
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Omnidirectional Video Acquisition D
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Part III Design of Vision Based Con
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344 Conclusions Control algorithms
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[Studies in Computational Intelligence 481] Artur Babiarz, Robert Bieda, Karol Jędrasiak, Aleksander Nawrat (auth.), Aleksander Nawrat, Zygmunt Kuś (eds.) - Vision Based Systemsfor UAV Applications (2013, Sprin

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