Pythagorean Hodograph (PH) path planning for tracking airborne contaminant using sensor swarm

S. Subchan*, B. A. White, A. Tsourdos, M. Shanmugavel, R. Zbikowski

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

24 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2008 IEEE International Instrumentation and Measurement Technology Conference Proceedings, I2MTC
Pages501-506
Number of pages6
DOIs
Publication statusPublished - 2008
Externally publishedYes
Event2008 IEEE International Instrumentation and Measurement Technology Conference, I2MTC - Victoria, BC, Canada
Duration: 12 May 200815 May 2008

Publication series

NameConference Record - IEEE Instrumentation and Measurement Technology Conference
ISSN (Print)1091-5281

Conference

Conference2008 IEEE International Instrumentation and Measurement Technology Conference, I2MTC
Country/TerritoryCanada
CityVictoria, BC
Period12/05/0815/05/08

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