We present an efficient path planning algorithm for an Unmanned Aerial Vehicle surveying a cluttered urban landscape. A special emphasis is on maximizing area surveyed while adhering to constraints of the UAV and partially known and updating environment. A Voronoi bias is introduced in the probabilistic roadmap building phase to identify certain critical milestones for maximal surveillance of the search space. A kinematically feasible but coarse tour connecting these milestones is generated by the global path planner. A local path planner then generates smooth motion primitives between consecutive nodes of the global path based on UAV as a Dubins vehicle and taking into account any impending obstacles. A Markov Decision Process (MDP) models the control policy for the UAV and determines the optimal action to be undertaken for evading the obstacles in the vicinity with minimal deviation from current path. The efficacy of the proposed algorithm is evaluated in an updating simulation environment with dynamic and static obstacles.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Dynamic motion planning for aerial surveillance on a fixed-wing UAV


    Beteiligte:


    Erscheinungsdatum :

    01.06.2017


    Format / Umfang :

    3078867 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Decentralized cooperative aerial surveillance using fixed-wing miniature UAVs

    Beard, R.W. / McLain, T.W. / Nelson, D.B. et al. | Tema Archiv | 2006


    Motion Planning of Multiple Fixed-Wing Unmanned Aerial Vehicles in 3 Dimension

    Chand, Roneel / Raghuwaiya, Krishna / Vanualailai, Jito et al. | Springer Verlag | 2024


    UAV Path Planning for Surveillance Applications: Rotary-Wing vs. Fixed-Wing UAVs

    Jafari, B. / Saeedi, H. / Pishro-Nik, H. | IEEE | 2024