Cooperative Surveillance and Pursuit Using Unmanned Aerial Vehicles and Unattended Ground Sensors

作     者：Fargeas, Jonathan Las Kabamba, Pierre Girard, Anouck 

作者机构：Univ Michigan Dept Aerosp Engn Ann Arbor MI 48105 USA 

出 版 物：《SENSORS》 (传感器)

年 卷 期：2015年第15卷第1期

页      面：1365-1388页

核心收录：

学科分类：0710[理学-生物学] 071010[理学-生物化学与分子生物学] 0808[工学-电气工程] 07[理学] 0804[工学-仪器科学与技术] 0703[理学-化学] 

基　　金：United States Air Force grant [FA 8650-07-2-3744] 

主　　题：sensor networks target tracking path planning for multiple UAVs 

摘      要：This paper considers the problem of path planning for a team of unmanned aerial vehicles performing surveillance near a friendly base. The unmanned aerial vehicles do not possess sensors with automated target recognition capability and, thus, rely on communicating with unattended ground sensors placed on roads to detect and image potential intruders. The problem is motivated by persistent intelligence, surveillance, reconnaissance and base defense missions. The problem is formulated and shown to be intractable. A heuristic algorithm to coordinate the unmanned aerial vehicles during surveillance and pursuit is presented. Revisit deadlines are used to schedule the vehicles paths nominally. The algorithm uses detections from the sensors to predict intruders locations and selects the vehicles paths by minimizing a linear combination of missed deadlines and the probability of not intercepting intruders. An analysis of the algorithm s completeness and complexity is then provided. The effectiveness of the heuristic is illustrated through simulations in a variety of scenarios.