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Jake Forsberg
An environment for research and automation system development
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Overview
UAV applications
UAVs + automation = ?
Flight research test bed
Motion planning problems and techniques
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UAV Applications
Military Government Agencies Civil
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Automation Potential
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Motivation for automated UAV Reduce manpower and safety risk
Reduce costs of operation
Provide an interesting problem for computer scientists!
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Research Test Bed
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Research Test BedCommunication and Control
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Research Test BedVehicle Tracking and Localization
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Research Test BedProcess Control Loop
1. Process position data of each vehicle
2. Send Position Data to application PC
3. Compute desired control signals for each vehicle
4. Send control signals for each vehicle via wireless signal
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Motion Planning Problem
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Motion Planning Problem
Aims to compute a set of commands toguide a vehicle through its environment toreach a goal state
Turns out to very difficult…NP-hard
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Gradient decent Potential field guided search
Vehicle Trajectory AlgorithmPotential Fields
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Overview Conclusion
Reduce operation cost, human safety risk
Automated UAV systems growing research interest
Small scale test beds are reliable for developing automated UAV systems
Further motion planning algorithm research required