TY - GEN
T1 - Dubins path planning of multiple UAVs for tracking contaminant cloud
AU - Subchan, Subchan
AU - White, Brian A.
AU - Tsourdos, Antonios
AU - Shanmugavel, Madhavan
AU - Zbikowski, R.
PY - 2008
Y1 - 2008
N2 - This paper presents cooperative path planning approach for multi UAVs to detect, model and track the shape of a contaminant cloud boundary. The objective of this research study is to manage the resources (airborne sensors) such as to determine the boundary of a cloud and track its motion with minimum information. The dispersing model of the contaminant cloud boundary is based on SCIPUFF. The UAVs are assumed to just have a sensor package which can sense nuclear, biological and chemical (NBC) contaminants. Therefore as a UAVs fly through a contaminant cloud the NBC sensors will recognise the entry and exit points of the UAVs from the contaminant cloud boundary and give these two points as measurements. Based on the measurements the splinegon approach uses to predict the contaminant cloud boundary and produces a segment for the next UAVs path.
AB - This paper presents cooperative path planning approach for multi UAVs to detect, model and track the shape of a contaminant cloud boundary. The objective of this research study is to manage the resources (airborne sensors) such as to determine the boundary of a cloud and track its motion with minimum information. The dispersing model of the contaminant cloud boundary is based on SCIPUFF. The UAVs are assumed to just have a sensor package which can sense nuclear, biological and chemical (NBC) contaminants. Therefore as a UAVs fly through a contaminant cloud the NBC sensors will recognise the entry and exit points of the UAVs from the contaminant cloud boundary and give these two points as measurements. Based on the measurements the splinegon approach uses to predict the contaminant cloud boundary and produces a segment for the next UAVs path.
KW - Autonomous systems
KW - Decision making and autonomy, sensor data fusion
KW - Guidance, navigation and control of vehicles
UR - http://www.scopus.com/inward/record.url?scp=79961019264&partnerID=8YFLogxK
U2 - 10.3182/20080706-5-KR-1001.2152
DO - 10.3182/20080706-5-KR-1001.2152
M3 - Conference contribution
AN - SCOPUS:79961019264
SN - 9783902661005
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
T2 - 17th World Congress, International Federation of Automatic Control, IFAC
Y2 - 6 July 2008 through 11 July 2008
ER -