Planning sensing actions for UAVs in urban domains

Mark A. Peot; Thomas W Altshuler; Arlen Breiholz; Richard A. Bueker; Kenneth W. Fertig; Aaron T. Hawkins; Sudhakar Reddy

doi:10.1117/12.634899

26 October 2005 Planning sensing actions for UAVs in urban domains

Mark A. Peot, Thomas W Altshuler, Arlen Breiholz, Richard A. Bueker, Kenneth W. Fertig, Aaron T. Hawkins, Sudhakar Reddy

Author Affiliations +

Proceedings Volume 5986, Unmanned/Unattended Sensors and Sensor Networks II; 59860J (2005) https://doi.org/10.1117/12.634899
Event: European Symposium on Optics and Photonics for Defence and Security, 2005, Bruges, Belgium

Abstract

We illustrate an approach for planning UAV sensing actions in urban or constrained domains. We plan and optimize a collection strategy for a target of interest using Design Sheet, a numeric/symbolic algebraic constraint propagation package. Once a set of sensing plans have been developed, we use a probabilistic roadmap planning algorithm to plan a route for a fixed wing UAV through urban terrain to collect that information. This planner has several novel features to improve performance for urban domains.

Citation Download Citation

Mark A. Peot, Thomas W Altshuler, Arlen Breiholz, Richard A. Bueker, Kenneth W. Fertig, Aaron T. Hawkins, and Sudhakar Reddy "Planning sensing actions for UAVs in urban domains", Proc. SPIE 5986, Unmanned/Unattended Sensors and Sensor Networks II, 59860J (26 October 2005); https://doi.org/10.1117/12.634899

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