V-Shaped Trajectory Planning of Search and Rescue UAV Based on Target Detection
Shuangshuang He, Hongying Qin, Kaiyu Wang · 2024
In emergency situations characterized by frequent natural disasters and maritime fatalities, unmanned aerial vehicles (UAVs) are increasingly employed in search and rescue missions due to their superior line-of-sight capabilities and operational flexibility. However, factors such as the small size of UAV platforms, high-altitude operation and fast flight speed make the implementation of search and rescue missions often face the uncertainty of target detection. To address this challenge, this paper proposes a straightforward and effective V-shaped trajectory planning method. When the UAV captures a potential target in the air, it will fly diagonally down to get a clearer image of the target, then diagonally back up after accurate identification. The strategy significantly enhances target recognition accuracy by optimizing the UAV trajectory. Simulation results indicate that, compared to traditional straight flight trajectory, the V-shaped trajectory not only ensures higher recognition accuracy but also markedly improves stability in target detection. Notably, in the case of high recognition accuracy, this method can still complete the missions well. Consequently, this method offers a novel solution for enhancing the efficiency of UAV-based search and rescue operations.