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A python package for planning surveys over large areas using one or more UAV (Unpersoned Aerial Vehicle).

License: Other

Python 95.36% XSLT 4.64%

pathplanning robotics multi-agent-systems pathfinding multi-agent-planning uavs

wadl's Introduction

WADL

Coverage Path Planner

WADL is a python package for planning surveys over large areas using one or more UAV (Unpersoned Aerial Vehicle). WADL take in a geofence and desired gird spacing and produces a series of routes to survey the area inside the geofence.

The project was motivated by the need for efficient route planning for multi-robot systems. WADL was designed and used in a 2019-2020 survey of Adélie penguins over Cape Crozier, Ross Island, Antarctica If you are interested in the technical details please see our paper To cite wadl please use the following citation:

Shah, G. Ballard, A. Schmidt, M. Schwager, Multidrone aerial surveys of penguin colonies in Antarctica. Sci. Robot. 5, eabc3000 (2020).

This work was supported by grant NSF grant 1834986 with logistical support provided by the United States Antarctic Program

Install

pip

pip install wadl-planner

source

git clone https://github.com/k2shah/wadl.git
pip install -r requirements.txt

Usage

Quick Start

from wadl.survey import Survey
survey = Survey()
survey.addTask(<path_to_geofence.csv>, step=100)
survey.plan()

Where step is the desired grid spacing.

See the example for a complete demonstration or the tutorial

Issues

For any suggestions or bugs please open an issue

License

This software is licensed under GNU GENERAL PUBLIC LICENSE verion 3

wadl's People

Contributors

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vineettambe gauravkuppa wildfire-robots jadenvc gaosihua manisa lookvc0001 simrit1

wadl's Issues

Prevent transfer path from leaving geo fence (if desired)

Need to be able to turn this off too so can leave the fence if pilot location is outside

fix infeasibility failure when there is a hole in the subgraph

add ability to set flight time limit

priority area

feature for setting area of higher priority. Survey agents will slow down over these areas

Route to Mission organization

new way to sort routes into a mission

Add ability to provide multiple LZs

So if provide 3 locs for LZs, will automatically select which routes will take off and land from those locs? Not sure if this is worthwhile or if it makes more sense to provide separate geofences

set waypoint limit to 99

(or really 94 + transfer legs) to comply with drone upload limitation

set transfer altitude by group

specify number of groups and set altitude offset by 10m

Figure out how to replan efficiently if only get partial coverage and need to change parameters

Like the situation that happened at Hicks, needed to shorten remaining routes but didn't want to resurvey areas already covered

check if can set agl on takeoff in mission file

so if take off from arbitrary point, first climbs to set altitude before transiting to first waypoint

Consolidate Parameters

Make a Parameters module and subclass it for other types of parameters.

Include default options where appropriate.

Grid chopped off when some step sizes selected

Documented for steps 27 and 28

Generate CSV from KML

work around for importing KMLs directly, add method to Area class to export CSV from KML . Since KML files can hold multiple geofences, this should generate one CSV per geofence with file name found in the KML tag <name> under <Placemark>.

Should probably use a real xml parser, maybe lxml.etree?

Add names of transfer group to route name

so when import mission, can easily tell which routes are in which group

Are Self-intersecting polygons supported?

Will this work if the geofences use self-intersecting polygons as shown?

add camera on descent waypoint

:-) This is fine tuning, but nice to have it start on the end of the transfer leg so get a few seconds heads up if it's not going to trigger

Match route csv file name to mission route name for mapping purposes

Just remembered this one :-)

pathlib

use pathlib instead of os.path

SAT problem timeout

Spawn thread to watch SAT problem and timeout if it exceeds some set limit.

add offset for take off and landing locs

When you provide a single take off and landing point to the solver, it gets offset by ~10m for each mission sector. So each drone will have a slightly different take off and landing spot. We had a couple close calls at the LZ at hicks that would have been less likely if drones had slightly offset waypoint 1 and LZs