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.
Dynamic motion planning for aerial surveillance on a fixed-wing UAV
2017-06-01
3078867 byte
Conference paper
Electronic Resource
English
Real-time predictive motion planning for fixed-wing aerial vehicles
Tema Archive | 2014
|Decentralized cooperative aerial surveillance using fixed-wing miniature UAVs
Tema Archive | 2006
|Motion Planning of Multiple Fixed-Wing Unmanned Aerial Vehicles in 3 Dimension
Springer Verlag | 2024
|