緊急対応ミッションのための自動3D探索計画に向けて
Towards Automated 3D Search Planning for Emergency Response Missions
UAVを用いた緊急対応における3D環境での探索計画を自動化する統合フレームワークを提案し、衝突回避やエネルギー効率を考慮した探索軌道を生成する。
著者: Savvas Papaioannou, Panayiotis Kolios, Theocharis Theocharides, Christos G. Panayiotou, Marios M. Polycarpou
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
The ability to efficiently plan and execute automated and precise search missions using unmanned aerial vehicles (UAVs) during emergency response situations is imperative. Precise navigation between obstacles and time-efficient searching of 3D structures and buildings are essential for locating survivors and people in need in emergency response missions. In this work we address this challenging problem by proposing a unified search planning framework that automates the process of UAV-based search planning in 3D environments. Specifically, we propose a novel search planning framework which enables automated planning and execution of collision-free search trajectories in 3D by taking into account low-level mission constrains (e.g., the UAV dynamical and sensing model), mission objectives (e.g., the mission execution time and the UAV energy efficiency) and user-defined mission specifications (e.g., the 3D structures to be searched and minimum detection probability constraints). The capabilities and performance of the proposed approach are demonstrated through extensive simulated 3D search scenarios.
