TY - GEN
T1 - Pythagorean Hodograph (PH) path planning for tracking airborne contaminant using sensor swarm
AU - Subchan, S.
AU - White, B. A.
AU - Tsourdos, A.
AU - Shanmugavel, M.
AU - Zbikowski, R.
PY - 2008
Y1 - 2008
N2 - This paper presents results on the path planning of cooperating Unmanned Aerial Vehicles (UAVs) to detect, model and track the shape of airborne contaminants boundary using Pythagorean Hodograph (PH). The model of the contaminant boundary is based on SCIPUFF and used it as reference for the path planning to track the airborne contaminant. The UAVs sensor swarm has to take measurements of the air borne contaminant clouds. The UAVs are assumed to just have a sensor package which can sense nuclear, biological and chemical (NBC) contaminants. Therefore as a UAVs flies through the contaminant the NBC sensors will recognise the entry and exit points of the UAVs from the contaminant boundary and give these two points as measurements. Based on the measurements the splinegon approach uses to predict the contaminant boundary and produces a segment for the next UAVs path.
AB - This paper presents results on the path planning of cooperating Unmanned Aerial Vehicles (UAVs) to detect, model and track the shape of airborne contaminants boundary using Pythagorean Hodograph (PH). The model of the contaminant boundary is based on SCIPUFF and used it as reference for the path planning to track the airborne contaminant. The UAVs sensor swarm has to take measurements of the air borne contaminant clouds. The UAVs are assumed to just have a sensor package which can sense nuclear, biological and chemical (NBC) contaminants. Therefore as a UAVs flies through the contaminant the NBC sensors will recognise the entry and exit points of the UAVs from the contaminant boundary and give these two points as measurements. Based on the measurements the splinegon approach uses to predict the contaminant boundary and produces a segment for the next UAVs path.
UR - http://www.scopus.com/inward/record.url?scp=51349153754&partnerID=8YFLogxK
U2 - 10.1109/IMTC.2008.4547087
DO - 10.1109/IMTC.2008.4547087
M3 - Conference contribution
AN - SCOPUS:51349153754
SN - 1424415411
SN - 9781424415410
T3 - Conference Record - IEEE Instrumentation and Measurement Technology Conference
SP - 501
EP - 506
BT - 2008 IEEE International Instrumentation and Measurement Technology Conference Proceedings, I2MTC
T2 - 2008 IEEE International Instrumentation and Measurement Technology Conference, I2MTC
Y2 - 12 May 2008 through 15 May 2008
ER -