UAV-Based Search and Rescue System Using a Probability Distribution Map
Aimen Abdelhak Messaoui, Samir Hakem, Rabah Louali, Abdenour Amamra, Abdelkeim Nemra, Omar Mechali · 2023
This paper introduces a comprehensive framework for enhancing search and rescue (SAR) missions using unmanned aerial vehicles (UAVs). The framework includes a probability-based mapping technique that identifies areas with the highest probability of target presence using a Probability Distribution Map (PDM). Additionally, optimized waypoint generation techniques are employed to enhance mission efficiency. Furthermore, the framework addresses UA V S’ kinematic and dynamic constraints by incorporating smoothing techniques, namely Dubin and Pythagorean Hodograph curves (PH) for safe and feasible flight trajectories. Extensive simulations show the effectiveness of the proposed SAR framework.