UAV Path Planning for Reconnaissance and Look-Ahead Coverage Support for Mobile Ground Vehicles

نویسندگان

چکیده

Path planning of unmanned aerial vehicles (UAVs) for reconnaissance and look-ahead coverage support mobile ground (MGVs) is a challenging task due to many unknowns being imposed by the MGVs’ variable velocity profiles, change in heading, structural differences between air environments. Few path techniques have been reported literature multirotor UAVs that autonomously follow MGVs missions. These formulate problem as tracking utilizing gimbal sensors overcome complexities. Despite their lack considering additional objectives such dynamic environments, they retain several drawbacks, including high computational requirements, hardware dependency, low performance when MGV has varying velocities. In this study, novel 3D technique presented, enhanced artificial potential field (ED-APF), where formulated both cover with nongimbal sensors. The proposed adopts vertical sinusoidal UAV adapts relative MGV’s position velocity, guided heading exploration areas routes ahead beyond sensors’ range, thus extending capabilities. amplitude frequency are determined maximize required visual quality terms pixel density quantity pertaining area covered. ED-APF was tested validated against general various simulation scenarios using Robot Operating System (ROS) Gazebo-supported PX4-SITL. It demonstrated superior showed its suitability obstacle-populated

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Path Planning for a UAV Performing Reconnaissance of Static Ground Targets in Terrain

In this article we consider a path planning problem for a single fixed-wing aircraft performing an ISR (Intelligence Surveillance Reconnaissance) mission using EO (ElectroOptical) camera(s). We give a mathematical formulation of the general aircraft visual reconnaissance problem for static ground targets in terrain and show that, under simplifying assumptions, it can be reduced to a variant of ...

متن کامل

Coverage Path Planning for Mobile Cleaning Robots

In this paper a path planning algorithms for a mobile cleaning robot is developed. An exact cellular decomposition divides an environment in multiple smaller regions called cells. To produce an efficient cleaning path, the order in which these cells are cleaned is important. This paper describes how the optimalization of this path can be formulated as a Traveling Salesman Problem. Furthermore a...

متن کامل

Energy efficient path planning for skid-steered autonomous ground vehicles

It is important to minimize the energy consumption of autonomous ground vehicles (AGVs) deployed in real world missions. One of the ways that this can be accomplished is to choose the vehicle’s motion to minimize the mechanical and electrical energy usage required by the vehicle’s motion. This paper considers energy efficient motion planning for skid-steered AGVs, an important and large class o...

متن کامل

Path Planning based on Bézier Curve for Autonomous Ground Vehicles

In this paper we present two path planning algorithms based on Bézier curves for autonomous vehicles with waypoints and corridor constraints. Bézier curves have useful properties for the path generation problem. The paper describes how the algorithms apply these properties to generate the reference trajectory for vehicles to satisfy the path constraints. Both algorithms join cubic Bézier curve ...

متن کامل

Path planning for autonomous vehicles

In this study, we first address the problem of visibility-based target tracking for a team of mobile observers trying to track a team of mobile targets. Initially, we introduce the notion of pursuit fields for a single observer to track a single target around a corner based on the previous work. Pursuit fields are used to generate navigation strategies for a single observer. In order to account...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Sensors

سال: 2021

ISSN: ['1424-8220']

DOI: https://doi.org/10.3390/s21134595