UAV path planning for maximum visibility of moving ground targets in an urban area

Kim, J. and Crassidis, J. (2010) UAV path planning for maximum visibility of moving ground targets in an urban area. In: 13th International Conference on Information Fusion, Edinburgh, UK, 26-29 July 2010,

Abstract

Multiple moving targets in an urban area are to be tracked simultaneously by unmanned aerial vehicles. It is assumed thatt e moving targets try to avoid the camera field pf view of the aircraft by changing their velocities and/or hiding beind buidlings. The number of aircraft is much smaller than the number of targets, in general. In order to track as many targets as possible, firstly the targets are grouped into a number of subgroups by maximising the modularity, which is solved efficiently by the power iteration. Secondly, circular optimal paths are ssigned to maximise the visability area, given shapes and locations of the ground obstacles, where the computational complexity is reduced using a novel random sampling method. Finally, the aircraft transition paths from the current positions to the desired path are obtained by solving a discrete minimum weighted path length problem.

• Item Type: Conference Proceedings
• Keywords: Target tracking, path planning, UAV
• Status: Published
• Refereed: Yes
• Glasgow Author(s) Enlighten ID: Kim, Dr Jongrae
• Authors: Kim, J., and Crassidis, J.
• College/School: College of Science and Engineering > School of Engineering > Biomedical Engineering
• Research Group: Biomedical Engineering