Planning sensing actions for UAVs in urban domains
Mark A. Peot, Thomas W. Altshuler, Arlen Breiholz, Richard A. Bueker, Kenneth W. Fertig, Aaron T. Hawkins, Sudhakar Y. Reddy · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2005
We illustrate an approach for planning UAV sensing actions in urban or constrained domains. We plan and optimize a collection strategy for a target of interest using Design Sheet, a numeric/symbolic algebraic constraint propagation package. Once a set of sensing plans have been developed, we use a probabilistic roadmap planning algorithm to plan a route for a fixed wing UAV through urban terrain to collect that information. This planner has several novel features to improve performance for urban domains.