ICUAS'22 Paper Abstract

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Paper FrA4.5

Tian, Weiyong (Beijing Institute of Technology), Liu, Li (Beijing Institute of Technology), Wang, Qiusheng (Beijing Institute of technology)

Fast Search Method for Moving Targets Using Multiple UAVs Cooperative Searching

Scheduled for presentation during the Regular Session "Path Planning IV" (FrA4), Friday, June 24, 2022, 10:20−10:40, Divona-2

2022 International Conference on Unmanned Aircraft Systems (ICUAS), June 21-24, 2022, Dubrovnik, Croatia

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

Keywords UAS Applications, Path Planning

Abstract

This paper presents the moving targets fast search method with multiple UAVs cooperative searching for moving tar-gets searching problem. In order to decrease the search duration and improve the search efficiency of moving tar-gets, the dynamic and time-sensitive key area model is for-mulated according to the target probability map by just searching the key areas instead of searching whole mission area. On this basis, these key areas are allocated to differ-ent UAVs and the moving targets searching problem is modeled as the dynamic coupled traveling salesman prob-lem (DC-TSP). The coupled solution framework consisting of the task allocation layer and the path planning layer is designed to solve this problem, where the former confirms the number of tasks and execution order for each UAV to sequential search the key areas using an opposition-based genetic algorithm with the elite strategy, and the latter solves the search path for the UAV to execute its search tasks using depth first search with the receding horizon optimization. The numerical simulation results demonstrate that FSM proposed can significantly reduce the mission duration and find the all moving targets in mission area, outperforming than distributed ant colony optimization and genetic algorithm.

 

 

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