This letter proposes a method for localization of avalanche victims by multiple UAVs. The method consists of three main parts. First, assuming that the UAVs and the victim are equipped with ARTVA receivers and a transmitter, respectively, we introduce a mathematical model of the receiver, which is used to estimate the position of the victim. Second, we derive a closed-form expression indicating the performance of this estimator. In particular, we show that the victim's observability index is captured by the persistency of excitation of a function of the UAVs trajectories. Third, we design and implement a motion planning algorithm that uses the estimation and the estimator's performance function for the (near) real-time generation of trajectories that guarantee feasible, safe, and time-efficient localization of avalanche victims.
Optimal Motion Planning for Localization of Avalanche Victims by Multiple UAVs
01.01.2021
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
Path Planning for Multiple UAVs
Wiley | 2010
|Protection and rescue device for avalanche victims
British Library Conference Proceedings | 1998
|