Simulation and Analysis of Heterogeneous UAV Swarm Mission Planning Algorithms for Industrial IoT in Virtual 3D EnvironmentsBachelor Thesis

30 April 2024, by Liviana Franke

Abstract:
This thesis presents foundational work for the development of a versatile simulation environment for heterogeneous Unmanned Aerial Vehicles (UAVs) within the Unity engine, accompanied by a modular mission planning supervisor. This framework includes multiple mission planning algorithms and an interface for controlling the simulator. The study benchmarks various algorithms of differing complexity and optimality, demonstrating that heuristic approaches can effectively balance computation time and the quality of results. Among the eleven evaluated algorithms, the variations of general assignment algorithm with new heuristics (GAA-HEU) with First or Last sequencing heuristics emerged as the most robust in terms of computation time, scalability, and mission quality.

Supervised by:
Prof. Dr. Janick Edinger, Helen Schloh