CTM 2020 Summer Internship

Flying Communications Node Controller Sensitive to Traffic

GWP Algorithm

For the first phase of the project, we had to calculate the relay UAV's optimal position through the GWP algorithm.

To solve this problem, we used GEKKO, a Python package for optimization of algebraic equations.
It was utilized to solve the system of inequalities correspondent to the intersection of the spheres representing each FAP's wireless range.

Representation of each FAP's wireless range (spheres) and the relay UAV position (red point)

Simulation

For the simulation we used the SITL Simulator alongside DroneKit's Python API. This allowed us to get an idea of how the drone would behave in a real life situation as well as control it, so it would go to the optimal position given the FAPs location.

It wasn't possible, however, to represent the FAPs in the simulation easily, so we used Folium Python library that represents the whole scene in a interactive map.

Instructions

To install ArduPilot, open a terminal in the project folder and run:

git clone https://github.com/ArduPilot/ardupilot
cd ardupilot
git submodule update --init --recursive

To install pip dependencies open a terminal in the project folder and run:

pip install -r requirements.txt

To run the program open a terminal in the project folder and run:

./run_sitl.sh