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Path Planning for a UAV in an Agricultural Environment to Tour and Cover Multiple Neighborhoods

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dc.contributor.authorSinha, Koelen
dc.contributor.committeechairKochersberger, Kevin B.en
dc.contributor.committeememberTokekar, Pratapen
dc.contributor.committeememberRoan, Michael J.en
dc.contributor.departmentElectrical and Computer Engineeringen
dc.date.accessioned2017-10-21T08:00:17Zen
dc.date.available2017-10-21T08:00:17Zen
dc.date.issued2017-10-20en
dc.description.abstractThis work focuses on path planning for an autonomous UAV to tour and cover multiple regions in the shortest time. The three challenges to be solved are - finding the right optimal order to tour the neighborhoods, determining entry and exit points to neighborhoods, and covering each neighborhood. Two approaches have been explored and compared to achieve this goal - a TSP - Greedy and TSP - Dijkstra's. Both of them use a TSP solution to determine the optimal order of touring. They also use the same back and forth motion to cover each region. However, while the first approach uses a brute force to determine the the next closest node of entry or exit, the second approach utilizes the Dijkstra's algorithm to compute all possible paths to every node in the graph, and therefore choose the shortest pairs of entry and exit for each region, that would generate the shorter path, overall. The main contribution of this work is to implement an existing algorithm to combine the touring and covering problem, and propose a new algorithm to perform the same. Empirical results comparing performances of both approaches are included. Hardware experiments are performed on a spraying hexacopter, using the TSP - Greedy approach. Unique system characteristics are studied to make conclusions about stability of the platform. Future directions are identified to improve both software and hardware performance.en
dc.description.degreeMaster of Scienceen
dc.format.mediumETDen
dc.identifier.othervt_gsexam:13259en
dc.identifier.urihttp://hdl.handle.net/10919/79731en
dc.publisherVirginia Techen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectPath Planningen
dc.subjectRoboticsen
dc.subjectDrone aircraften
dc.subjectCrop Sprayingen
dc.subjectAgricultureen
dc.subjectTSPen
dc.subjectDIjkstraen
dc.subjectCoverage path planningen
dc.subjectShortest-timeen
dc.subjectTouringen
dc.subjectArc-Routingen
dc.titlePath Planning for a UAV in an Agricultural Environment to Tour and Cover Multiple Neighborhoodsen
dc.typeThesisen
thesis.degree.disciplineElectrical Engineeringen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.levelmastersen
thesis.degree.nameMaster of Scienceen

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