Adaptive Search Space Coverage Path Planning
In your catkin_ws/src:
git clone --recurse-submodules https://github.com/psilberberg/asscpp.git
In addition to ros-noetic-desktop-full
, please install:
rviz_visual_tools,
octomap,
octomap_mapping,
octomap_rviz_plugins, and
CGAL
sudo apt-get install ros-noetic-rviz-visual-tools ros-noetic-octomap ros-noetic-octomap-mapping ros-noetic-octomap-rviz-plugins libcgal-dev
To run simulation, you'll also need Ardupilot
git clone https://github.com/ArduPilot/ardupilot.git
cd ardupilot
git submodule update --init --recursive
Also, add the path to the models to your bashrc file:
echo 'export GAZEBO_MODEL_PATH=$HOME/catkin_ws/src/asscpp/cscpp/models:$GAZEBO_MODEL_PATH' >> ~/.bashrc
Finally, you'll also need Mission Planner. Instructions on how to install MP on linux by IntelligentQuads
Ensure your catkin workspace is sourced:
cd catkin_ws
source devel/setup.bash
Start the launch file:
roslaunch cscpp sim_world.launch
In a NEW terminal, start ArduPilot SITL:
cd catkin_ws/src/asscpp/cscpp/ && ./startsitl.sh
or
cd ~/ardupilot/ArduCopter/ && sim_vehicle.py -v ArduCopter -f gazebo-iris --console
In a NEW (third) terminal, start Mission Planner:
cd MissionPlanner
mono MissionPlanner.exe
Now use Mission Planner to drive the UAV around!
Please cite the following papers when using the work for your research:
@INPROCEEDINGS{almadhoun2018asscpp,
author={R. {Almadhoun} and T. {Taha} and D. {Gan} and J. {Dias} and Y. {Zweiri} and L. {Seneviratne}},
booktitle={2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={Coverage Path Planning with Adaptive Viewpoint Sampling to Construct 3D Models of Complex Structures for the Purpose of Inspection},
year={2018},
volume={},
number={},
pages={7047-7054}
@InProceedings{almadhoun2019sscpp,
author="Almadhoun, Randa and Taha, Tarek and Dias, Jorge and Seneviratne, Lakmal and Zweiri, Yahya",
title="Coverage Path Planning for Complex Structures Inspection Using Unmanned Aerial Vehicle (UAV)",
booktitle="Intelligent Robotics and Applications",
year="2019",
publisher="Springer International Publishing",
address="Cham",
pages="243--266",
isbn="978-3-030-27541-9"
Aircraft Inspection by Multirotor UAV Using Coverage Path Planning
@INPROCEEDINGS{9476718,
author={Silberberg, Patrick and Leishman, Robert C.},
booktitle={2021 International Conference on Unmanned Aircraft Systems (ICUAS)},
title={Aircraft Inspection by Multirotor UAV Using Coverage Path Planning},
year={2021},
volume={},
number={},
pages={575-581},
doi={10.1109/ICUAS51884.2021.9476718}}