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Autonomous UAV path planning and estimation

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3 Author(s)
Tisdale, J. ; Univ. of Texas, Austin, TX ; ZuWhan Kim ; Hedrick, J.K.

Unmanned aerial vehicles (UAVs) have shown promise in recent years for autonomous sensing. UAVs systems have been proposed for a wide range of applications such as mapping, surveillance, search, and tracking operations. The recent availability of low-cost UAVs suggests the use of teams of vehicles to perform sensing tasks. To leverage the capabilities of a team of vehicles, efficient methods of decentralized sensing and cooperative path planning are necessary. The goal of this work is to examine practical control strategies for a team of fixed-wing vehicles performing cooperative sensing. We seek to develop decentralized, autonomous control strategies that can account for a wide variety of sensing missions. Sensing goals are posed from an information theoretic standpoint to design strategies that explicitly minimize uncertainty. This work proposes a tightly coupled approach, in which sensor models and estimation objectives are used online for path planning.

Published in:

Robotics & Automation Magazine, IEEE  (Volume:16 ,  Issue: 2 )

Date of Publication:

June 2009

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