This paper addresses the problem of path planning for fixed wing Unmanned Aerial Vehicles (UAVs) for monitoring two different ground targets simultaneously. The UAVs are modelled as Dubins vehicles that can move only in the forward direction and are constrained by a bound on the minimum turn radius. The problem is formulated as an optimal control problem with both control and state inequality constraints along with a terminal manifold constraint. Subsequently, time optimal paths for the UAVs are obtained using Pontryagin's minimum principle.


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    Title :

    Dual ground target monitoring with unmanned aerial vehicles


    Contributors:


    Publication date :

    2013-08-01


    Size :

    282448 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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