Centralized path planning for unmanned aerial vehicles with a heterogeneous mix of sensors
Date
2009
Authors
Dogancay, K.
Hmam, H.
Drake, S.
Finn, A.
Editors
Marusic, S.
Palaniswami, M.
Gubbi, J.
Law, Y.
Palaniswami, M.
Gubbi, J.
Law, Y.
Advisors
Journal Title
Journal ISSN
Volume Title
Type:
Conference paper
Citation
Proceedings of 2009 Fifth International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP), 2009 / Marusic, S., Palaniswami, M., Gubbi, J., Law, Y. (ed./s), pp.91-96
Statement of Responsibility
Kutluyıl Doğançay, Hatem Hmam, Samuel P. Drake, Anthony Finn
Conference Name
5th International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP) (7 Dec 2009 - 10 Dec 2009 : Melbourne, Australia)
Abstract
This paper is concerned with real-time optimal UAV path planning in a multi-emitter geolocation environment. All UAVs are assumed to be controlled by a central processing unit. A UAV waypoint-update/steering algorithm is developed based on maximizing the determinant of Fisher information matrix for localization of stationary emitters. Soft and hard geometric constraints for threat/collision avoidance are also implemented. An effective joint path optimization and dynamic sensor allocation algorithm is proposed to handle communication bandwidth constraints. The performance of the developed steering algorithm is illustrated with extensive simulation examples.
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© 2009 IEEE