DocumentCode :
3028942
Title :
Probabilistic search with agile UAVs
Author :
Waharte, Sonia ; Symington, Andrew ; Trigoni, Niki
Author_Institution :
Oxford Comput. Lab., Oxford, UK
fYear :
2010
fDate :
3-7 May 2010
Firstpage :
2840
Lastpage :
2845
Abstract :
Through their ability to rapidly acquire aerial imagery, Unmanned Aerial Vehicles (UAVs) have the potential to aid target search tasks. Many of the core algorithms which are used to plan search tasks use occupancy grid-based representations and are often based on two main assumptions. Firstly, the altitude of the UAV is constant. Secondly, the onboard sensors can measure the entire state of an entire grid cell. Although these assumptions are sufficient for fixed-wing, high speed UAVs, we do not believe that they are appropriate for small, lightweight, low speed and agile UAVs such as quadrotors. These platforms have the ability to change altitude and their low speed means that multiple measurements may easily overlap multiple cells for substantial periods of time. In this paper we extend a framework for probabilistic search based on decision making to incorporate multiple observations of grid cells and changes in UAV altitude. We account for observation areas that completely and partially cover multiple grid cells. We show the resultant impact on a number of simulation examples.
Keywords :
decision making; mobile robots; remotely operated vehicles; aerial imagery; agile UAV altitude; decision making; grid-based representation; high speed UAV; multiple grid cells; multiple measurement; onboard sensors; probabilistic search; quadrotors; unmanned aerial vehicle; Control systems; Decision making; Monitoring; Path planning; Robotics and automation; Surveillance; Time measurement; USA Councils; Unmanned aerial vehicles; Velocity measurement; Unmanned aerial vehicle; exploration; search; target;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
ISSN :
1050-4729
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2010.5509962
Filename :
5509962
Link To Document :
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