Optimized path planning for UAVS with AOA/scan based sensors

Author

Dogancay, Kutluyil

Author_Institution

Sch. of Electr. & Inf. Eng., Univ. of South Australia, Mawson Lakes, SA, Australia

fYear

2007

fDate

3-7 Sept. 2007

Firstpage

1935

Lastpage

1939

Abstract

In emitter localization by unmanned aerial vehicles (UAVs) the objective of path planning is to determine the best UAV trajectories so as to maximize the instantaneous localization performance subject to various constraints. In this paper we propose gradient based waypoint update algorithms for UAVs equipped with angle-of-arrival (AOA) and scan based sensors. The optimization criterion used by the waypoint update algorithms is to maximize the determinant of the approximate Fisher information matrix. The effectiveness of the path planning algorithms is illustrated with several computer simulations.

Keywords

SLAM (robots); autonomous aerial vehicles; gradient methods; image sensors; matrix algebra; mobile robots; optimisation; path planning; robot vision; trajectory control; AOA; Fisher information matrix; UAV trajectory; angle-of-arrival sensor; gradient based waypoint update algorithm; passive emitter localization; path planning optimization; scan based sensor; unmanned aerial vehicle; Covariance matrices; Maximum likelihood estimation; Receivers; Sensors; Signal processing algorithms; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Signal Processing Conference, 2007 15th European

Conference_Location

Poznan

Print_ISBN

978-839-2134-04-6

Type

conf

Filename

7099145