Jake Forsberg

An environment for research and automation system development

Overview

UAV applications

UAVs + automation = ?

Flight research test bed

Motion planning problems and techniques

UAV Applications

Military Government Agencies Civil

Automation Potential

Motivation for automated UAV Reduce manpower and safety risk

Reduce costs of operation

Provide an interesting problem for computer scientists!

Research Test Bed

Research Test BedCommunication and Control

Research Test BedVehicle Tracking and Localization

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

Motion Planning Problem

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

Gradient decent Potential field guided search

Vehicle Trajectory AlgorithmPotential Fields

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