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Publication
DYNAMIC AND INTELLIGENT CONTROL OF UNMANNED VEHICLES IN HETEROGENEOUS ENVIRONMENTS
| Name: | Description: | Size: | Format: | |
|---|---|---|---|---|
| 35.49 MB | Adobe PDF |
Authors
Abstract(s)
O uso diário de Veículos Não Tripulados (UVs) em ambientes do mundo real tornouse
cada vez mais comum, com aplicações em agricultura de precisão, vigilância e
patrulhamento. A simulação desempenha um papel crítico na testagem de algoritmos
antes da implementação no mundo real, reduzindo riscos e custos. No entanto, a
transição de ambientes simulados para o real apresenta desafios, incluindo montagem
de hardware, compatibilidade de firmware e variabilidade ambiental.
Este trabalho apresenta um sistema que permite o controle e monitoramento
de UVs em ambientes simulados e reais. O protótipo desenvolvido, com foco em
Veículos Aéreos Não Tripulados (UAVs) para prevenção de incêndios florestais, inclui
três UAVs personalizados e uma aplicação de desktop, GCS Sim, que simplifica a
configuração e gestão da simulação. O sistema demonstra escalabilidade, oferecendo
ambientes de simulação sob demanda e integração em tempo real de UAVs.
Trabalhos futuros incluirão recursos de planejamento de missões e a simulação
de Veículos Terrestres Não Tripulados (UGVs) usando o Gazebo, ampliando ainda
mais a versatilidade da plataforma para aplicações no mundo real.
The daily use of Unmanned Vehicles (UVs) in real-world environments has become increasingly common, with applications in precision farming, surveillance, and patrolling. Simulation plays a critical role in testing algorithms before real-world deployment, reducing risks and costs. However, transitioning from simulated to real environments poses challenges, including hardware assembly, firmware compatibility, and environmental variability. This work presents a system that enables the control and monitoring of UVs in both simulated and real environments. The developed prototype, focused on Unmanned Aerial Vehicles (UAVs) for wildfire prevention, includes three custom-built UAVs and a desktop application, GCS Sim, which simplifies simulation setup and management. The system demonstrates scalability, offering on-demand simulation environments and real-time UAV integration. Future work will include mission planning features and the simulation of Unmanned Ground Vehicles (UGVs) using Gazebo, further enhancing the platform’s versatility for real-world applications.
The daily use of Unmanned Vehicles (UVs) in real-world environments has become increasingly common, with applications in precision farming, surveillance, and patrolling. Simulation plays a critical role in testing algorithms before real-world deployment, reducing risks and costs. However, transitioning from simulated to real environments poses challenges, including hardware assembly, firmware compatibility, and environmental variability. This work presents a system that enables the control and monitoring of UVs in both simulated and real environments. The developed prototype, focused on Unmanned Aerial Vehicles (UAVs) for wildfire prevention, includes three custom-built UAVs and a desktop application, GCS Sim, which simplifies simulation setup and management. The system demonstrates scalability, offering on-demand simulation environments and real-time UAV integration. Future work will include mission planning features and the simulation of Unmanned Ground Vehicles (UGVs) using Gazebo, further enhancing the platform’s versatility for real-world applications.
Description
Keywords
Automação Engenharia de Controle Robótica Projeto de Engenharia Veículos Aéreos não tripulados Voadores autónomos Robótica