probability accumulation
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Drones ◽  
2021 ◽  
Vol 5 (4) ◽  
pp. 143
Author(s):  
Rudolf Ortner ◽  
Indrajit Kurmi ◽  
Oliver Bimber

In this article we demonstrate that acceleration and deceleration of direction-turning drones at waypoints have a significant influence to path planning which is important to be considered for time-critical applications, such as drone-supported search and rescue. We present a new path planning approach that takes acceleration and deceleration into account. It follows a local gradient ascend strategy which locally minimizes turns while maximizing search probability accumulation. Our approach outperforms classic coverage-based path planning algorithms, such as spiral- and grid-search, as well as potential field methods that consider search probability distributions. We apply this method in the context of autonomous search and rescue drones and in combination with a novel synthetic aperture imaging technique, called Airborne Optical Sectioning (AOS), which removes occlusion of vegetation and forest in real-time.


GPS Solutions ◽  
2018 ◽  
Vol 23 (1) ◽  
Author(s):  
Qian Meng ◽  
Jianye Liu ◽  
Qinghua Zeng ◽  
Shaojun Feng ◽  
Rui Xu

2009 ◽  
Vol 42 (5) ◽  
pp. 668-675 ◽  
Author(s):  
Xi Wang ◽  
Chunyu Yang ◽  
Jie Zhou

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