Collective Perception using UAVs: Autonomous Aerial Reconnaissance in a Complex Urban Environment

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F60162694%3AG42__%2F20%3A00555761" target="_blank" >RIV/60162694:G42__/20:00555761 - isvavai.cz</a>

Výsledek na webu

<a href="https://www.mdpi.com/1424-8220/20/10/2926" target="_blank" >https://www.mdpi.com/1424-8220/20/10/2926</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/s20102926" target="_blank" >10.3390/s20102926</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Collective Perception using UAVs: Autonomous Aerial Reconnaissance in a Complex Urban Environment

Popis výsledku v původním jazyce

This article examines autonomous reconnaissance in a complex urban environment using unmanned aerial vehicles (UAVs). Environments with many buildings and other types of obstacles and/or an uneven terrain are harder to be explored as occlusion of objects of interest may often occur. First, in this article, the problem of autonomous reconnaissance in a complex urban environment via a swarm of UAVs is formulated. Then, the algorithm based on the metaheuristic approach is proposed for a solution. This solution lies in deploying a number of waypoints in the area of interest to be explored, from which the monitoring is performed, and planning the routes for available UAVs among these waypoints so that the monitored area is as large as possible and the operation as short as possible. In the last part of this article, two types of main experiments based on computer simulations are designed to verify the proposed algorithms. The first type focuses on comparing the results achieved on the benchmark instances with the optimal solutions. The second one presents and discusses the results obtained from a number of scenarios, which are based on typical reconnaissance operations in real environments.

Název v anglickém jazyce

Collective Perception using UAVs: Autonomous Aerial Reconnaissance in a Complex Urban Environment

Popis výsledku anglicky

This article examines autonomous reconnaissance in a complex urban environment using unmanned aerial vehicles (UAVs). Environments with many buildings and other types of obstacles and/or an uneven terrain are harder to be explored as occlusion of objects of interest may often occur. First, in this article, the problem of autonomous reconnaissance in a complex urban environment via a swarm of UAVs is formulated. Then, the algorithm based on the metaheuristic approach is proposed for a solution. This solution lies in deploying a number of waypoints in the area of interest to be explored, from which the monitoring is performed, and planning the routes for available UAVs among these waypoints so that the monitored area is as large as possible and the operation as short as possible. In the last part of this article, two types of main experiments based on computer simulations are designed to verify the proposed algorithms. The first type focuses on comparing the results achieved on the benchmark instances with the optimal solutions. The second one presents and discusses the results obtained from a number of scenarios, which are based on typical reconnaissance operations in real environments.

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

2020

Kód důvěrnosti údajů

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

Název periodika

Sensors

ISSN

1424-8220

e-ISSN

1424-8220

Svazek periodika

20

Číslo periodika v rámci svazku

10

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

27

Strana od-do

2926

Kód UT WoS článku

000539323700180

EID výsledku v databázi Scopus

2-s2.0-85085275955