Simulation und Evaluierung von Pfadplanungsalgorithmen für den Flug von unbemannten Luftfahrzeugen in Innenräumen

Abstract

There are many path planning algorithms for the flight of unmanned aerial vehicles. During the development of such algorithms, indoor use is often not considered. Therefore, the technology is limited to large open spaces with few obstacles. To extend the range of applications to obstacle-rich indoor environments, the performance of path planning algorithms in such environments is evaluated in this thesis. For this purpose, a metric consisting of eight criteria is developed and applied to four path planning algorithms. The individual criteria of the metric are evaluated using realistic simulations. Based on a weighted assessment of the evaluation, the path planning algorithm with the best suitability for indoor use is identified.