TY - JOUR
T1 - Occlusion-aware uav path planning for reconnaissance and surveillance
AU - Zhang, Jian
AU - Huang, Hailong
N1 - Funding Information:
Funding: This work was supported by the Australian Research Council. Also, this work received funding from the Australian Government, via grant AUSMURIB000001 associated with ONR MURI grant N00014-19-1-2571.
Publisher Copyright:
© 2021 by the authors. Licensee MDPI, Basel, Switzerland.
PY - 2021/9/15
Y1 - 2021/9/15
N2 - Unmanned Aerial Vehicles (UAVs) have become necessary tools for a wide range of activi-ties 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.
AB - Unmanned Aerial Vehicles (UAVs) have become necessary tools for a wide range of activi-ties 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.
KW - Aerial surveillance
KW - Coverage path planning
KW - Path planning
KW - Terrain coverage
KW - UAVs
UR - http://www.scopus.com/inward/record.url?scp=85115336256&partnerID=8YFLogxK
U2 - 10.3390/drones5030098
DO - 10.3390/drones5030098
M3 - Journal article
AN - SCOPUS:85115336256
VL - 5
JO - Drones
JF - Drones
SN - 2504-446X
IS - 3
M1 - 98
ER -