uav_random_direction

This package performs random direction coverage with an unmanned aerial vehicle (UAV). It is part of the swarm behaviors library.

Dependencies

This package depends on the following message definitions: * cpswarm_msgs

The following library packages of the swarm behaviors library are required: * swarm_behaviors_position

The following packages of the swarm functions library are required: * target_monitor (only if single_target=true)

The following packages of the sensing and actuation library are required: * area_provider * obstacle_detection

Further required packages are: * roscpp * actionlib * random_numbers

Execution

Run the launch file

roslaunch uav_random_direction uav_random_direction.launch

to launch the uav_random_direction node.

The launch file can be configured with following parameters: * id (integer, default: 1) The identifier (ID) of the CPS used for name spacing in simulation. * output (string, default: screen) Whether to show the program output (screen) or to write it to a log file (log).

In the param subdirectory there is the parameter file uav_random_direction.yaml that allows to configure the behavior of the uav_random_direction node.

Nodes

uav_random_direction

The uav_random_direction performs coverage using the random direction algorithm. The random direction is a mathematical movement model, where an agent moves straight forward until it reaches an obstacle or the environment boundary. There, it changes its direction randomly into a direction that is clear of obstacles. When the parameter single_target is set to true, the UAV succeeds once a target has been found and returns the target ID and position.

Action Goal

• uav_coverage/goal (cpswarm_msgs/CoverageGoal) A goal that starts the random direction coverage behavior. It contains the altitude at which to operate.

Action Result

• uav_coverage/result (cpswarm_msgs/CoverageResult) ID and position of the target that has been found.

Subscribed Topics

• target_found (cpswarm_msgs/TargetPositionEvent) Position and ID of a target detected by the target monitor. Only subscribed when single_target is set to true.

Services Called

• area/get_area (cpswarm_msgs/GetPoints) Get the area polygon.
• obstacle_detection/get_clear_sector (cpswarm_msgs/GetSector) Get the circular sector that is clear of obstacles.

Parameters

• ~loop_rate (real, default: 5.0) The frequency in Hz at which to run the control loops.
• ~queue_size (integer, default: 1) The size of the message queue used for publishing and subscribing to topics.
• ~single_target (boolean, default: true) Whether the algorithm will succeed / terminate once a target has been found.
• ~margin (real, default: 0.5) The distance in meter to keep to the environment boundary.
• /rng_seed (integer, default: 0) The seed used for random number generation. In the default case, a random seed is generated.

Code API

uav_random_direction package code API documentation

Changelog for package uav_random_direction

1.3.0 (2020-01-03)

1.2.0 (2019-12-29)

• Changed: Refactor library structure
• Changed: UAVs depart in different directions
• Changed: Read RNG seed from parameter, use random seed otherwise
• Changed: Return state aborted once coverage finishes
• Changed: Check if movement was successful
• Changed: Targets handled by swarm functions library
• Fixed: Change direction when obstacle detected
• Fixed: Correctly handle state of behavior algorithm
• Fixed: Force C++11
• Fixed: Returning of target
• Contributors: Micha Sende

1.1.0 (2018-11-12)

• Fixed: Computation of sector occupied by obstacles and other UAVs
• Contributors: Micha Sende

1.0.0 (2018-10-30)

• Initial release of uav_random_direction
• Contributors: Micha Sende