Path planning for UAVs using symbiotic simulation
2006 (English)In: Modelling and Simulation 2006 / [ed] Nketsa, A; Paludetto, M; Bertelle, C, 2006, 207-213 p.Conference paper (Refereed)
The problem of efficient path planning for Unmanned Aerial Vehicles (UAV) with a surveillance mission in a dynamic environment can in some cases be solved using Symbiotic Simulation (S2), i.e. an on-line simulation that interacts in real-time with the UAV and chooses its path. Sequential Monte Carlo Simulation, known also as Particle Filtering (PF) is an instance of such a simulation. In this paper we describe a methodology and an algorithm to use PF for efficient path planning of a UAV which searches a road network for a target. To verify whether this method is feasible and to supply a tool to compare different methods a simulator is developed. This simulator and its features are presented in this paper as well.
Place, publisher, year, edition, pages
2006. 207-213 p.
modeling and simulation, particle filtering, path planning, symbiotic simulation, unmanned aerial vehicle (UAV)
Computer and Information Science
IdentifiersURN: urn:nbn:se:kth:diva-42211ISI: 000245528900034ISBN: 978-90-77381-30-4OAI: oai:DiVA.org:kth-42211DiVA: diva2:446827
European Simulation and Modelling Conference (ESM 2006) Location: Toulouse, France, Date: OCT 23-25, 2006
QC 201110102011-10-102011-10-062011-12-02Bibliographically approved