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首页> 外文学位 >Incorporating weather systems in cooperative UAV (unmanned aerial vehicle) search: A probabilistic approach.
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Incorporating weather systems in cooperative UAV (unmanned aerial vehicle) search: A probabilistic approach.

机译：将天气系统纳入协作式UAV（无人飞行器）搜索中：一种概率方法。

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摘要

Unmanned Aerial Vehicles (UAVs) have been recently used in many areas due to their ability to perform almost as efficiently as piloted aircrafts, at low cost, without endangering human life. In this research, we consider a fleet of UAVs performing a search mission in a bounded area where static targets are located. The search strategy is a cooperative one, rather than a centralized one due to low bandwidth and dynamics in the system. Cooperation has been noted in the literature to be very important for multi-vehicle control systems such as the one considered in this research. Our solution method is a Dynamic Programming (DP) algorithm for computing the trajectories of multiple UAVs from a mission starting point with the objective of cooperatively searching the set of fixed targets. The algorithm presented in this research calculates a gain function for maximizing the number of targets found in the area. Each vehicle maintains a (dynamic) cognitive map of probabilities of indicating where the targets are likely to exist and where other vehicles have already been routed. (Abstract shortened by UMI.)
机译：无人飞行器（UAV）最近在许多领域得到了使用，因为它们能够以低成本与无人驾驶飞机一样高效地运行，而不会危害人类生命。在这项研究中，我们考虑了一支无人机，它们在静态目标所在的边界区域执行搜索任务。由于系统中的低带宽和动态性，搜索策略是一种协作策略，而不是集中式策略。文献中已经指出合作对于诸如本研究中所考虑的多车辆控制系统是非常重要的。我们的解决方案方法是一种动态编程（DP）算法，用于从任务起点计算多个无人机的轨迹，以协作搜索固定目标集。本研究中提出的算法计算了一个增益函数，用于最大化该区域内发现的目标数量。每辆车都维护着一个（动态）概率概率图，该图表明目标可能存在的位置以及其他车辆已被路由的位置。 （摘要由UMI缩短。）

著录项

  • 作者

    Araz, Ozgur Merih.;

  • 作者单位

    State University of New York at Buffalo.;

  • 授予单位 State University of New York at Buffalo.;
  • 学科 Engineering Mechanical.; Engineering Robotics.
  • 学位 M.S.
  • 年度 2006
  • 页码 74 p.
  • 总页数 74
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 机械、仪表工业;
  • 关键词

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