Using on-line simulation for adaptive path planning of UAVs
2007 (English)In: DS-RT 2007: 11TH IEEE INTERNATIONAL SYMPOSIUM ON DISTRIBUTED SIMULATION AND REAL-TIME APPLICATIONS, PROCEEDINGS / [ed] Roberts, DJ; Theodoropoulos, GK; ElSaddik, A, LOS ALAMITOS: IEEE COMPUTER SOC , 2007, 167-174 p.Conference paper (Refereed)
In a surveillance mission, the task of Unmanned. Aerial Vehicles (UAV) path planning can in some cases be addressed using Sequential Monte Carlo (SMC) simulation. If sufficient a priori information about the target and the environment is available an assessment of the future state of the target is obtained by the SMC simulation. This assessment is used in a set of "what-if" simulations to compare different alternative UAV paths. In a static environment this simulation can be conducted prior to the mission. However if the environment is dynamic, it is required to run the "what-if" simulations on-line i.e. in real-time. In this paper the details of this on-line simulation approach in UAV path planning is studied and its performance is compared with two other methods: an off-line simulation aided path planning and an exhaustive search method. The conducted simulations indicate that the on-line simulation has generally a higher performance compared with the two other methods.
Place, publisher, year, edition, pages
LOS ALAMITOS: IEEE COMPUTER SOC , 2007. 167-174 p.
, IEEE/ACM International Symposium on Distributed Simulation and Real-Time Applications, ISSN 1550-6525
IdentifiersURN: urn:nbn:se:kth:diva-39462ISI: 000251799200021ScopusID: 2-s2.0-46449106347ISBN: 978-0-7695-3011-6OAI: oai:DiVA.org:kth-39462DiVA: diva2:439925
11th IEEE International Symposium on Distributed Simulation and Real-Time Applications. Chania, GREECE. OCT 22-24, 2007