Route Optimization for Cooperative Aerial Reconnaissance

摘要

This paper deals with the optimization of routes generated by the Cooperative Aerial Reconnaissance (CAR) model. This high-level model plans the optimal routes for a fleet of unmanned aerial systems (UAS) in order to carry out the reconnaissance operation in the area of interest. The route for each UAS is composed of a number of waypoints to be visited in the correct order. This paper further enhances the routes by applying the smoothing algorithm to individual routes for every aerial system in the fleet. The first part of the paper presents the fundamental parameters of the smoothing algorithm. Next, the evaluation of the approach is performed via a series of experiments. The proposed modifications have been implemented into the Tactical Decision Support System (TDSS) being developed at University of Defence in Brno to support commanders in their decision making processes.