UAV intelligent path planning for Wilderness Search and Rescue

In the priority search phase of Wilderness Search and Rescue, a probability distribution map is created. Areas with higher probabilities are searched first in order to find the missing person in the shortest expected time. When using a UAV to support search, the onboard video camera should cover as...

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Bibliographic Details
Published in2009 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 709 - 714
Main Authors Lin, L., Goodrich, M.A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2009
Subjects
Cameras
Computer science
Intelligent robots
Object detection
Path planning
Probability distribution
Solids
Time factors
Unmanned aerial vehicles
USA Councils
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Summary:In the priority search phase of Wilderness Search and Rescue, a probability distribution map is created. Areas with higher probabilities are searched first in order to find the missing person in the shortest expected time. When using a UAV to support search, the onboard video camera should cover as much of the important areas as possible within a set time. We explore several algorithms (with and without set destination) and describe some novel techniques in solving this problem and compare their performances against typical WiSAR scenarios. This problem is NP-hard, but our algorithms yield high quality solutions that approximate the optimal solution, making efficient use of the limited UAV flying time.
ISBN:9781424438037
1424438039
ISSN:2153-0858
DOI:10.1109/IROS.2009.5354455