Occlusion-Aware UAV Path Planning for Reconnaissance and Surveillance

Drones

Hailong Huang¹  Jian Zhang² 

[1] Department of Aeronautical and Aviation Engineering (AAE), Hong Kong Polytechnic University (PolyU), Hong Kong, China;School of Electrical Engineering and Telecommunications, University of New South Wales, Sydney 2052, Australia;

关键词: UAVs;    aerial surveillance;    coverage path planning;    terrain coverage;    path planning;   

DOI  :  10.3390/drones5030098

来源: DOAJ

【 摘 要 】

Unmanned Aerial Vehicles (UAVs) have become necessary tools for a wide range of activities including but not limited to real-time monitoring, surveillance, reconnaissance, border patrol, search and rescue, civilian, scientific and military missions, etc. Their advantage is unprecedented and irreplaceable, especially in environments dangerous to humans, for example, in radiation or pollution-exposed areas. Two path-planning algorithms for reconnaissance and surveillance are proposed in this paper, which ensures every point on the target ground area can be seen at least once in a complete surveillance circle. Moreover, the geometrically complex environments with occlusions are considered in our research. Compared with many existing methods, we decompose this problem into a waypoint-determination problem and an instance of the traveling-salesman problem.

【 授权许可】

Unknown