UAV Path Planning for Ice Intelligence Purposes using NLP
As the oil and shipping industry are interested in operating in arctic waters, the need for ice intelligence gathering is rising.The thesis describes the implentation and results of a path planning framework for an UAV used for ice intelligence purposes. THe framework produsces paths based on optimi...
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Institutt for teknisk kybernetikk
2012
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ftntnutrondheimi:oai:ntnuopen.ntnu.no:11250/260637 2023-05-15T15:05:14+02:00 UAV Path Planning for Ice Intelligence Purposes using NLP Grimsland, Lars Arne Imsland, Lars Norges teknisk-naturvitenskapelige universitet, Fakultet for informasjonsteknologi, matematikk og elektroteknikk, Institutt for teknisk kybernetikk 2012 http://hdl.handle.net/11250/260637 eng eng Institutt for teknisk kybernetikk 565935 ntnudaim:7093 http://hdl.handle.net/11250/260637 96 ntnudaim:7093 MITK teknisk kybernetikk (2 årig) Reguleringsteknikk Master thesis 2012 ftntnutrondheimi 2019-09-17T06:49:48Z As the oil and shipping industry are interested in operating in arctic waters, the need for ice intelligence gathering is rising.The thesis describes the implentation and results of a path planning framework for an UAV used for ice intelligence purposes. THe framework produsces paths based on optimization of a non-linear problem, using the IPOPT library in C++.A model for information uncertainty is implemented, and optimal paths based on minimizing the total information uncertainty are compared to optimal paths based on minimizing distance between UAV and target. Both off line and offline path planning is tested with single and multiple targets.It was found that minimizing information uncertainty can work very well for path planning for ice berg surveillance, or for surveillance of a small search grid.Minimizing information uncertainty generally gave better results than minimizing distance between the UAV and given targets.The implementation should be made more robust, and interfaces towards other UAV sysmets has to be made before the path planning platform has any practical use. Master Thesis Arctic NTNU Open Archive (Norwegian University of Science and Technology) Arctic |
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Open Polar |
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NTNU Open Archive (Norwegian University of Science and Technology) |
op_collection_id |
ftntnutrondheimi |
language |
English |
topic |
ntnudaim:7093 MITK teknisk kybernetikk (2 årig) Reguleringsteknikk |
spellingShingle |
ntnudaim:7093 MITK teknisk kybernetikk (2 årig) Reguleringsteknikk Grimsland, Lars Arne UAV Path Planning for Ice Intelligence Purposes using NLP |
topic_facet |
ntnudaim:7093 MITK teknisk kybernetikk (2 årig) Reguleringsteknikk |
description |
As the oil and shipping industry are interested in operating in arctic waters, the need for ice intelligence gathering is rising.The thesis describes the implentation and results of a path planning framework for an UAV used for ice intelligence purposes. THe framework produsces paths based on optimization of a non-linear problem, using the IPOPT library in C++.A model for information uncertainty is implemented, and optimal paths based on minimizing the total information uncertainty are compared to optimal paths based on minimizing distance between UAV and target. Both off line and offline path planning is tested with single and multiple targets.It was found that minimizing information uncertainty can work very well for path planning for ice berg surveillance, or for surveillance of a small search grid.Minimizing information uncertainty generally gave better results than minimizing distance between the UAV and given targets.The implementation should be made more robust, and interfaces towards other UAV sysmets has to be made before the path planning platform has any practical use. |
author2 |
Imsland, Lars Norges teknisk-naturvitenskapelige universitet, Fakultet for informasjonsteknologi, matematikk og elektroteknikk, Institutt for teknisk kybernetikk |
format |
Master Thesis |
author |
Grimsland, Lars Arne |
author_facet |
Grimsland, Lars Arne |
author_sort |
Grimsland, Lars Arne |
title |
UAV Path Planning for Ice Intelligence Purposes using NLP |
title_short |
UAV Path Planning for Ice Intelligence Purposes using NLP |
title_full |
UAV Path Planning for Ice Intelligence Purposes using NLP |
title_fullStr |
UAV Path Planning for Ice Intelligence Purposes using NLP |
title_full_unstemmed |
UAV Path Planning for Ice Intelligence Purposes using NLP |
title_sort |
uav path planning for ice intelligence purposes using nlp |
publisher |
Institutt for teknisk kybernetikk |
publishDate |
2012 |
url |
http://hdl.handle.net/11250/260637 |
geographic |
Arctic |
geographic_facet |
Arctic |
genre |
Arctic |
genre_facet |
Arctic |
op_source |
96 |
op_relation |
565935 ntnudaim:7093 http://hdl.handle.net/11250/260637 |
_version_ |
1766336969428697088 |