Semiautonomous Drone System for Mapping and Measuring of Agricultural Fields and Forest Stands

 |  Login

Show simple item record

dc.contributor Aalto-yliopisto fi
dc.contributor Aalto University en
dc.contributor.advisor Visala, Arto
dc.contributor.advisor Nikolakopoulos, George Ouattara, Issouf 2018-09-03T12:45:53Z 2018-09-03T12:45:53Z 2018-08-20
dc.description.abstract Unmanned Aerial vehicles are increasingly used in many applications and particularly in agriculture and forestry. This study develops a semi-autonomous quadcopter drone system for mapping and measuring of a given area of land, either agricultural field or forest stand. A coverage path planning algorithm which generates an optimal path for covering the area to be mapped is developed. The coverage path planning considers three types of area configurations: convex polygon area, concave polygon area and finally a general polygon area with holes in its interior. In order to cover the area by the drone, the dynamic model of the quadcopter system is identified and used to design the position controller. The drone is programmed and the images collection is carried out. The resulting images are used in a image mosaicing algorithm, developed by this study, to build a 2D map of the area of interest. The resulting system can effectively generates a coverage path in any area which has any polygonal shape configuration. The position controller accuracy allows to collect the images of a given area with specified image overlaps. The images can also to be used to build the map of the area with accuracy that is acceptable to the current application of mapping agricultural or forest fields. en
dc.format.extent 104
dc.language.iso en en
dc.title Semiautonomous Drone System for Mapping and Measuring of Agricultural Fields and Forest Stands en
dc.type G2 Pro gradu, diplomityö fi Sähkötekniikan korkeakoulu fi
dc.subject.keyword UAV mapping en
dc.subject.keyword image mosaicing en
dc.subject.keyword coverage path planning en
dc.subject.keyword position control en
dc.subject.keyword convex decomposition en
dc.identifier.urn URN:NBN:fi:aalto-201809034911
dc.programme.major Space Robotics and Automation fi
dc.programme.mcode ELEC3047 fi
dc.type.ontasot Master's thesis en
dc.type.ontasot Diplomityö fi
dc.contributor.supervisor Visala, Arto
dc.programme Master in Space Science and Technology fi
dc.location P1 fi
local.aalto.electroniconly yes
local.aalto.openaccess no

Files in this item

Files Size Format View

There are no files associated with this item.

This item appears in the following Collection(s)

Show simple item record

Search archive

Advanced Search

article-iconSubmit a publication


My Account