Surveillance Planning With Bezier Curves

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F18%3A00322271" target="_blank" >RIV/68407700:21230/18:00322271 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/LRA.2018.2789844" target="_blank" >http://dx.doi.org/10.1109/LRA.2018.2789844</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2018.2789844" target="_blank" >10.1109/LRA.2018.2789844</a>

Result language
angličtina
Original language name
Surveillance Planning With Bezier Curves
Original language description
This letter concerns surveillance planning for an unmanned aerial vehicle (UAV) that is requested to periodically take snapshots of areas of interest by visiting a given set of waypoint locations in the shortest time possible. The studied problem can be considered as a variant of the combinatorial traveling salesman problem in which trajectories between the waypoints respect the kinematic constraints of the UAV. Contrary to the existing formulation for curvature-constrained vehicles known as the Dubins traveling salesman problem, the herein addressed problem is motivated by planning for multirotor UAVs which are not limited by the minimal required forward velocity and minimal turning radius as the Dubins vehicle, but rather by the maximal speed and acceleration. Moreover, the waypoints to be visited can be at different altitudes, and the addressed problem is to find a fast and smooth trajectory in three-dimensional (3-D) space from which all the areas of interest can be captured. The proposed solution is based on unsupervised learning in which the requested 3-D smooth trajectory is determined as a sequence of Bezier curves in a finite number of learning epochs. The reported results support feasibility of the proposed solution which has also been experimentally verified with a real UAV.
Czech name
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Czech description
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Type
J<sub>ost</sub> - Miscellaneous article in a specialist periodical
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project
<a href="/en/project/GA16-24206S" target="_blank" >GA16-24206S: Efficient Information Gathering with Dubins Vehicles in Persistent Monitoring and Surveillance Missions</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2018
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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