Cooperative Unmanned Aerial System Reconnaissance in a Complex Urban Environment and Uneven Terrain

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F60162694%3AG42__%2F19%3A00537081" target="_blank" >RIV/60162694:G42__/19:00537081 - isvavai.cz</a>

Výsledek na webu

<a href="https://www.mdpi.com/1424-8220/19/17/3754" target="_blank" >https://www.mdpi.com/1424-8220/19/17/3754</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/s19173754" target="_blank" >10.3390/s19173754</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Cooperative Unmanned Aerial System Reconnaissance in a Complex Urban Environment and Uneven Terrain

Popis výsledku v původním jazyce

Using unmanned robotic systems in military operations such as reconnaissance or surveillance, as well as in many civil applications, is common practice. In this article, the problem of monitoring the specified area of interest by a fleet of unmanned aerial systems is examined. The monitoring is planned via the Cooperative Aerial Model, which deploys a number of waypoints in the area; these waypoints are visited successively by unmanned systems. The original model proposed in the past assumed that the area to be explored is perfectly flat. A new formulation of this model is introduced in this article so that the model can be used in a complex environment with uneven terrain and/or with many obstacles, which may occlude some parts of the area of interest. The optimization algorithm based on the simulated annealing principles is proposed for positioning of waypoints to cover as large an area as possible. A set of scenarios has been designed to verify and evaluate the proposed approach. The key experiments are aimed at finding the minimum number of waypoints needed to explore at least the minimum requested portion of the area. Furthermore, the results are compared to the algorithm based on the lawnmower pattern.

Název v anglickém jazyce

Cooperative Unmanned Aerial System Reconnaissance in a Complex Urban Environment and Uneven Terrain

Popis výsledku anglicky

Using unmanned robotic systems in military operations such as reconnaissance or surveillance, as well as in many civil applications, is common practice. In this article, the problem of monitoring the specified area of interest by a fleet of unmanned aerial systems is examined. The monitoring is planned via the Cooperative Aerial Model, which deploys a number of waypoints in the area; these waypoints are visited successively by unmanned systems. The original model proposed in the past assumed that the area to be explored is perfectly flat. A new formulation of this model is introduced in this article so that the model can be used in a complex environment with uneven terrain and/or with many obstacles, which may occlude some parts of the area of interest. The optimization algorithm based on the simulated annealing principles is proposed for positioning of waypoints to cover as large an area as possible. A set of scenarios has been designed to verify and evaluate the proposed approach. The key experiments are aimed at finding the minimum number of waypoints needed to explore at least the minimum requested portion of the area. Furthermore, the results are compared to the algorithm based on the lawnmower pattern.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

21100 - Other engineering and technologies

Projekt

—

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2019

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Sensors

ISSN

1424-8220

e-ISSN

—

Svazek periodika

19

Číslo periodika v rámci svazku

17

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

16

Strana od-do

1-16

Kód UT WoS článku

000486861900124

EID výsledku v databázi Scopus

2-s2.0-85071735422