ICUAS 2019 Paper Abstract

Close

Paper ThA1.2

Stephens, Shawn (Air Force Institute of Technology, WPAFB, OH), Manyam, Satyanarayana Gupta (Infoscitex corporation), Casbeer, David (Air force Research laboratories), Cichella, Venanzio (UIUC), Kunz, Donald (Air Force Institute of Technology)

Randomized Continuous Monitoring of a Target by Agents with Turn Radius Constraints

Scheduled for presentation during the Regular Session "Path Planning III" (ThA1), Thursday, June 13, 2019, 10:20−10:40, Heritage B

2020 International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Athens, Greece

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Path Planning, UAS Applications, Autonomy

Abstract

We consider a scenario where a target needs to be monitored continuously by a set of agents. The agents are equipped with sensors fixed to their bodies and the sensors have a finite footprint. The mission requires the target to lie in the sensor footprint of at least one agent at any time. Due to the finite footprint, an agent can monitor the target only when its range and orientation with respect to the target is within certain limits. The agents considered here have kinematic motion constraints and limits on their speed. This constraint mandates the use of multiple agents to monitor the target sequentially in order to achieve continuous monitoring. To reduce the predictability of their paths, the agents randomly generate successive monitoring positions. We present strategies for scheduling and path planning which assure continuous monitoring; the path planning is done using B'ezier curves subject to curvature constraints, boundary constraints and length constraints. We also present an efficient computation methodology to enforce maximum curvature and path length constraints using only the control points of the curves.

 

 

All Content © PaperCept, Inc.

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2024 PaperCept, Inc.
Page generated 2024-03-28  01:34:05 PST  Terms of use