Parametric Scan Patterns for RPAS - Part II (English)

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Grup ICARUS ; The aim of this project, performed in collaboration with ICARUS research group, consists in designing a library in JAVA for RPAS scan patterns. This means, creating a set of functions in this programming language that allow to create the widest possible variety of scan patterns. This kind of flights are extensively used nowadays in surveillance or terrain mapping missions with RPAS. The first part of this project will be focused on connecting various scan patterns in a single mission. This implies programming an algorithm capable of optimizing the path that starts at the take-off point, visits all the scan patterns and returns to the take-off point. Moreover, the scan layout will also be optimized in order to obtain the shortest possible path. This utility is very interesting as it has not been found in any of the commercial software consulted and it can lead to important savings in battery or fuel and time. The second part of this work will be about optimizing the scan patterns depending on the camera mounted on the RPAS. The optimal flight altitude and scan track separation will be calculated in order to obtain the required overlap between photos set by the user or the pixel density in px/m of the photographs. Furthermore, the flight path between the scan patterns will be programmed. In this case the paths will be different than in the first part of the project as, due to the optimizations in function of the camera, the scan patterns are likely to be flown at different altitudes. Finally, the results obtained will be validated using Mission Planner, and Ardupilot Software In The Loop. Mission Planner is a free and open-source ground control station capable of creating scan patterns in function of the camera mounted on the RPAS and thus, it will be used to validate the second part of the project. On the other hand, the SITL is an RPAS flight simulator which will be useful to virtually fly the scan patterns designed in the first part of this work.