Sistema anti-colisiones para multicópteros basado en comunicaciones inalámbricas
[EN] The use of multicopters is spreading rapidly due to their wide scope of application. This means that, as time goes by, the risk of collision between these devices significantly increases. Moreover, solutions where swarms of multicopters are used to solve more complex problems through cooperatio...
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| Tipo de recurso: | tesis de maestría |
| Fecha de publicación: | 2017 |
| País: | España |
| Institución: | Universitat Politècnica de València (UPV) |
| Repositorio: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Idioma: | español |
| OAI Identifier: | oai:riunet.upv.es:10251/86101 |
| Acceso en línea: | https://riunet.upv.es/handle/10251/86101 |
| Access Level: | acceso abierto |
| Palabra clave: | Collision Virtual machine Simulator MAVLink Ad-hoc WiFi Raspberry Pi Pixhawk Drone Dron Simulador Máquina virtual Colisión ARQUITECTURA Y TECNOLOGIA DE COMPUTADORES Máster Universitario en Ingeniería de Computadores y Redes-Màster Universitari en Enginyeria de Computadors i Xarxes |
| Sumario: | [EN] The use of multicopters is spreading rapidly due to their wide scope of application. This means that, as time goes by, the risk of collision between these devices significantly increases. Moreover, solutions where swarms of multicopters are used to solve more complex problems through cooperation are being proposed. Both cases require multicopters to communicate among them to coordinate their flight, something that is only being done at an experimental level at this moment. The main objective of this project is to develop a simulation environment to design communication protocols among multicopters, enabling collaboration among them. The simulator will permit to analyse the implemented protocols with no need for field tests, which will reduce the implementation time and the risk of damage on multicopters. Field tests have been made to analyse the packet loss according to the distance between multicopters to properly emulate the communications link. As reference, a WiFi Ad-hoc link in the 5 GHz band has been used. The simulator has reached its final development status, and is completely stable with up to six multicopters running at the same time. The application scalability is limited due to the use of virtual machines, but a few changes in its design will allow scaling it significantly in the future. The development of a collision avoidance solution among multicopters has been the first use of the simulator. Experiments show that the collision avoidance protocol is robust enough, as it has avoided collisions on all the tests that have been done. |
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