Dubins Path Planning of Multiple UAVs for Tracking Contaminant Cloud
نویسنده
چکیده
: This paper presents cooperative path planning approach for multi UAVs to detect, model and track the shape of a contaminant cloud boundary. The objective of this research study is to manage the resources (airborne sensors) such as to determine the boundary of a cloud and track its motion with minimum information. The dispersing model of the contaminant cloud boundary is based on SCIPUFF. The UAVs are assumed to just have a sensor package which can sense nuclear, biological and chemical (NBC) contaminants. Therefore as a UAVs fly through a contaminant cloud the NBC sensors will recognise the entry and exit points of the UAVs from the contaminant cloud boundary and give these two points as measurements. Based on the measurements the splinegon approach uses to predict the contaminant cloud boundary and produces a segment for the next UAVs path.
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