固定翼UAVの単軸ジンバルカメラに対する情報量に基づくセンサプランニング
Informative Sensor Planning for a Single-Axis Gimbaled Camera on a Fixed-Wing UAV
固定翼UAVの単軸ジンバルカメラについて、事前情報マップ上での情報利得を最大化するようセンサの掃引範囲を計画する手法を提案し、シミュレーションで有効性を示した。
著者: Aditya Parandekar, Brady Moon, Nayana Suvarna, Sebastian Scherer
分類: cs.RO
原文アブストラクト
Uncrewed Aerial Vehicles (UAVs) are a leading choice of platforms for a variety of information-gathering applications. Sensor planning can enhance the efficiency and success of these types of missions when coupled with a higher-level informative path-planning algorithm. This paper aims to address these data acquisition challenges by developing an informative non-myopic sensor planning framework for a single-axis gimbal coupled with an informative path planner to maximize information gain over a prior information map. This is done by finding reduced sensor sweep bounds over a planning horizon such that regions of higher confidence are prioritized. This novel sensor planning framework is evaluated against a predefined sensor sweep and no sensor planning baselines as well as validated in two simulation environments. In our results, we observe an improvement in the performance by 21.88% and 13.34% for the no sensor planning and predefined sensor sweep baselines respectively.
