Path Planning for Search and Rescue Mission using Multicopters

Abstract

This thesis considers path planning for a low-cost multicopter used in the searchpart of a search and rescue mission. Search patterns or trajectories are consideredand evaluated through simulations in MATLAB. How to place the onboard camerain order to cover as much area as possible and which altitude that gives the mostarea coverage without making the subjects too small to detect is discussed.The proposed search patterns are implemented in the existing software structureused in this project. The implementation is tested using a ArduPilot software inthe loop simulator, and by flight tests using a hexacopter.