In this diploma thesis we are proposing solution for the search and track problem an evading ground object by an air pursuer in a 3D environment. In addition to static obstacles, there may be dynamic obstacles in the environment which are not plotted on the map provided to the drone. In order to avoid a collision, a safety method has been proposed which is based on processing the image from the input camera by a neural network. The tracking subtask is solved by a reactive algorithm adapted for movement in a built-up area. The probabilistic search algorithm is based on solving Art Gallery and Orienteering problems using nature-inspired algorithms. All algorithms and procedures are evaluated in a simulated environment on randomly generated maps.
| Identifer | oai:union.ndltd.org:nusl.cz/oai:invenio.nusl.cz:434871 |
| Date | January 2020 |
| Creators | Patík, Vladimír |
| Contributors | Barták, Roman, Vodrážka, Jindřich |
| Source Sets | Czech ETDs |
| Language | Czech |
| Detected Language | English |
| Type | info:eu-repo/semantics/masterThesis |
| Rights | info:eu-repo/semantics/restrictedAccess |
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