h3ct0r / DroneMagneticMapGeneratorPy

A route software to generate routes for Magnetic Coverage for rotary wing drones. This is the implementation of the paper: Multi-robot coverage path planning using hexagonal segmentation for geophysical surveys.

DroneMagneticMapGeneratorPy

A software to generate routes for Magnetic Coverage with rotary wing drones.

• Generate waypoints at a fixed interval
• Several drones
• Hexagon segmentation

Tech

DroneMagneticMapGeneratorPy uses a number of open source projects to work properly:

• [Python] - one of the greatest script languages ever
• [Shapely] - a awesome library for geometric calculations
• [PyQT5] - for generating desktop UI
• [numpy] - a library for math computations
• [Leaflet] - a opensource javascript library for maps

Installation

Option #1: Docker - It work on all machines!

1. Clone the repo

git clone https://github.com/h3ct0r/DroneMagneticMapGeneratorPy

2. Set server access control program for X

xhost +

3. Running the application

docker compose up # or docker-compose up depending on your docker version

Option #2: System Install - It work on my machine!

1. Clone the repo

git clone https://github.com/h3ct0r/DroneMagneticMapGeneratorPy

2. Install dependencies

pip install shapely numpy pygame PyQt5 networkx scipy matplotlib PIL

3. Go to the folder of the program

cd DroneMagneticMapGeneratorPy/

4. Run

python main.py

Todos

• Write MOAR Tests
• Support load and save polygon
• Add set default location based on current location
• Save previous config and load it on start up
• Configure start and end nodes for the hexagons and magnetic route

Citing:

If you use this software for your research, please use this citation:

@article{azpurua2018multi,
  title={Multi-robot coverage path planning using hexagonal segmentation for geophysical surveys},
  author={Azp{\'u}rua, H{\'e}ctor and Freitas, Gustavo M and Macharet, Douglas G and Campos, Mario FM},
  journal={Robotica},
  volume={36},
  number={8},
  pages={1144--1166},
  year={2018},
  publisher={Cambridge University Press}
}

License

MIT

Free Software, Hell Yeah!