This paper addresses the problem of maximizing surveillance area coverage using multiple Unmanned Aerial Vehicles (UAVs) in an obstacle-laden and Global Positioning System (GPS)-denied environment. The UAVs should achieve this objective using the shortest possible routes while staying inside the designated search space and avoiding the obstacles. To attain a desired area coverage, we divide the NP-hard multi-objective optimization problem of planning optimal routes for all UAVs into 3 parts: (a) optimizing search area coverage, (b) performing obstacle avoidance, and (c) using Cooperative Localization (CL) for state estimation. We demonstrate the efficiency of our algorithm through extensive simulations.


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    Titel :

    Cooperative Search Area optimization using Multiple Unmanned Aerial Vehicles in a GPS-denied Environment


    Beteiligte:
    Misra, Sohum (Autor:in) / Biswas, Srijanee (Autor:in) / Minai, Ali A. (Autor:in) / Sharma, Rajnikant (Autor:in)


    Erscheinungsdatum :

    01.06.2019


    Format / Umfang :

    641250 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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