Abstract
The planning of drone trajectories in the search for ground-level objects is considered, in the case of challenging observation conditions. In existing planning algorithms, a priori data regarding the location of the objects are used in the secondary search, but no account is taken of their local visibility (on account of fog or smoke, say). To improve search productivity in challenging observation conditions, the observability may be taken into account in planning the drone trajectory. Heuristic models are used to assess the observability. The working trajectory is selected by calculating the maximum useful search information obtained from various possible trajectories. To eliminate Shannon indeterminacy in the utility of the information regarding successive points, we introduce an additional utility function. The results obtained by simulation of the search process confirm that this approach is more effective than trajectory planning on the basis of the maximum a priori probability that objects are present and on the basis of search entropy estimates.
Similar content being viewed by others
REFERENCES
Forest fires, ZalaAero Group official website. https://zala.aero/category/applications/emergency/ monitoring-pozharov/. Accessed October 3, 2019.
Kim, N.V. and Mokrova, M.I., Fire monitoring by group of unmanned aerial vehicles, Materialy Vserossiiskoi nauchno-tekhnicheskoi konferentsii “Tekhnicheskoe zrenie v sistemakh upravleniya-2019,” 12–13 marta 2019, Tezisy dokladov (Proc. All-Russ. Sci.-Tech. Conf. “Technical Vision in Control Systems-2019,” March 12–13, 2019, Abstracts of Papers), Moscow: Inst. Kosm. Issled., Ross. Akad. Nauk, 2019.
Kudrin, A.Yu. and Podrezov, Yu.V., Analysis of modern means and methods of prevention of natural fires, Tekhnol. Grazhd. Bezop., 2006, no. 4, pp. 27–32.
Merino, L., Caballero, F., De Dios, J.R.M., et al., An unmanned aircraft system for automatic forest fire monitoring and measurement, J. Intell. Rob. Syst., 2012, vol. 65, no. 1, pp. 533–548.
Kumar, M., Cohen, K., and Chaudhuri, B.H., Cooperative control of multiple uninhabited aerial vehicles for monitoring and fighting wildfires, J. Aerosp. Comput., Inf. Commun., 2011, vol. 8, no. 1, pp. 1–16.
Kim, N.V. and Mikhailov, N.A., Drone searches for objects on the ground: an entropy-based approach, Russ. Eng. Res., 2020, vol. 40, no. 2, pp. 164–167.
Kogan, I.M., Prikladnaya teoriya informatsii (Applied Theory of Information), Moscow: Radio i Svyaz’, 1981.
Abchuk, V.A. and Suzdal’, V.G., Poisk ob”ektov (Search for Objects), Moscow: Sovetskoe Radio, 1977.
Gorelik, A.L. and Skripkin, V.A., Metody raspoznavaniya (Methods of Recognition), Moscow: Nauka, 2004.
Funding
Financial support was provided by the Russian Foundation for Basic Research (project 19-08-00613-а).
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
The authors declare that they have no conflicts of interest.
Additional information
Translated by B. Gilbert
About this article
Cite this article
Kim, N.V., Mikhailov, N.A. & Mokrova, M.I. Drone Searches in Challenging Conditions. Russ. Engin. Res. 40, 583–585 (2020). https://doi.org/10.3103/S1068798X20070187
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.3103/S1068798X20070187