Surveillance Planning With Bezier Curves

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Surveillance Planning With Bezier Curves

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Surveillance Planning With Bezier Curves

Popis výsledku anglicky

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.

Druh

J_ost - Ostatní články v recenzovaných periodicích

CEP obor

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OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/GA16-24206S" target="_blank" >GA16-24206S: Metody informatického plánování cest pro neholonomní mobilní roboty v úlohách monitorování a dohledu</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2018

Kód důvěrnosti údajů

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

Název periodika

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Svazek periodika

3

Číslo periodika v rámci svazku

2

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

750-757

Kód UT WoS článku

000423534000008

EID výsledku v databázi Scopus

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