A restricted-direction target search approach based on coupled routing and optical sensor tasking optimization

摘要

A key issue in UAVs (Unmanned Air Vehicles) and UAV-mounted sensor control is the target search problem: finding targets in minimum time. In this paper, we proposed a restricted-direction target search approach based on coupled routing and optical sensor tasking optimization. In this method, we consider a single UAV, which is equipped with two optical sensors to view a limited large region of the dynamic environment. The UAV moves in the dynamic environment, searches for targets of interest, and is capable of avoiding obstacles and threats immediately. The paths are obtained considering actual maneuverability limitations of the UAV and are evaluated according to optimization of the optical sensor tasks for the duration of the path. Series of comparative experimental results demonstrate that this algorithm makes effective use of the coupled method of optimization and performs significantly better than previously proposed approaches.