Cooperative path planning with unmanned vehicle systems for scalar field reconstruction = 무인시스템 협업 기반 스칼라장 복원을 위한 경로계획

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Recently, the use of unmanned systems has increased considerably in a wide range of applications such as environmental monitoring and disaster response operations. Scalar field reconstruction is often an important task in these applications, e.g., temperature and chemical distributions can be modeled as scalar field maps. The field information is initially unknown and unmanned vehicles can be used to gather samples and reconstruct the scalar field. Path planning is important for improving the quality of the reconstruction results, so this study focuses on informative path planning to design an effective and efficient sampling path for scalar field reconstruction. Field reconstruction missions are achieved via cooperation between an unmanned surface vehicle (USV) and an unmanned aerial vehicle (UAV). The data sampled during the task are used to adaptively re-plan the paths of the two vehicles. Cooperation is considered by assuming that the USV is capable of carrying and deploying the UAV. The feasibility of the proposed informative path planning process with USV-UAV cooperation is demonstrated based on the results of numerical simulations.
Advisors
Kim, Jinwhanresearcher김진환researcher
Description
한국과학기술원 :로봇공학학제전공,
Publisher
한국과학기술원
Issue Date
2018
Identifier
325007
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 로봇공학학제전공, 2018.2,[iv, 34 p. :]

Keywords

USV-UAV cooperation▼aAdaptive path planning▼aGaussian process▼aInformation theory; 무인선-무인기 협업▼a적응적 경로계획▼a가우시안 프로세스▼a정보이론

URI
http://hdl.handle.net/10203/266004
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=733779&flag=dissertation
Appears in Collection
RE-Theses_Master(석사논문)
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