Publicação

Adaptive path planning for fusing rapidly exploring random trees and deep reinforcement learning in an agriculture dynamic environment UAVs

Detalhes bibliográficos
Resumo:	Unmanned aerial vehicles (UAV) are a suitable solution for monitoring growing cultures due to the possibility of covering a large area and the necessity of periodic monitoring. In inspection and monitoring tasks, the UAV must find an optimal or near-optimal collision-free route given initial and target positions. In this sense, path-planning strategies are crucial, especially online path planning that can represent the robot’s operational environment or for control purposes. Therefore, this paper proposes an online adaptive path-planning solution based on the fusion of rapidly exploring random trees (RRT) and deep reinforcement learning (DRL) algorithms applied to the generation and control of the UAV autonomous trajectory during an olive-growing fly traps inspection task. The main objective of this proposal is to provide a reliable route for the UAV to reach the inspection points in the tree space to capture an image of the trap autonomously, avoiding possible obstacles present in the environment. The proposed framework was tested in a simulated environment using Gazebo and ROS. The results showed that the proposed solution accomplished the trial for environments up to 300 m3 and with 10 dynamic objects.
Autores principais:	Castro, Gabriel G.R.
Outros Autores:	Berger, Guido; Cantieri, Álvaro R.; Teixeira, Marco; Lima, José; Pereira, Ana I.; Pinto, Milena F.
Assunto:	Aerial robots Multiple robots Planning Dynamic environment Precision agriculture
Ano:	2023
País:	Portugal
Tipo de documento:	artigo
Tipo de acesso:	acesso aberto
Instituição associada:	Instituto Politécnico de Bragança
Idioma:	inglês
Origem:	Biblioteca Digital do IPB

Descrição
Resumo:	Unmanned aerial vehicles (UAV) are a suitable solution for monitoring growing cultures due to the possibility of covering a large area and the necessity of periodic monitoring. In inspection and monitoring tasks, the UAV must find an optimal or near-optimal collision-free route given initial and target positions. In this sense, path-planning strategies are crucial, especially online path planning that can represent the robot’s operational environment or for control purposes. Therefore, this paper proposes an online adaptive path-planning solution based on the fusion of rapidly exploring random trees (RRT) and deep reinforcement learning (DRL) algorithms applied to the generation and control of the UAV autonomous trajectory during an olive-growing fly traps inspection task. The main objective of this proposal is to provide a reliable route for the UAV to reach the inspection points in the tree space to capture an image of the trap autonomously, avoiding possible obstacles present in the environment. The proposed framework was tested in a simulated environment using Gazebo and ROS. The results showed that the proposed solution accomplished the trial for environments up to 300 m3 and with 10 dynamic objects.