Co-Operative Unmanned Aerial Vehicle Mapping of Complex Obstacles Using 2-D Splinegon
Samuel B. Lazarus, Antonios Tsourdos, Rafał Żbikowski, Brian A. White, Camille Alain Rabbath, Nicolas Lechevin · AIAA Guidance, Navigation, and Control Conference and Exhibit · 2008
This paper describes a recently proposed algorithm in terrain based co-operative UAV mapping of the unknown complex obstacle in a stationary environment where the complex obstacles are represented as curved in nature. The focus is to achieve a guaranteed performance of sensor based mapping of the uncertain environments using multiple UAVs. The guaranteed performance is quantifled by explicit bounds of the position estimate of the multiple UAVs using an extended Kalman fllter and to build the map of the complex obstacle using the 2-D Splinegon technique where the path of the UAVs are dictated by the Dubins path planning algorithm. This newly proposed algorithm, the most e‐cient and a robust way in terrain based mapping of the complex obstacles, can provide mathematically provable and performance guarantees that are achievable in practice.