A UAV solution of regional surveillance based on pheromones and artificial potential field theory

Yaohong Qu; Yintao Zhang; Youmin Zhang

doi:10.1109/ICUAS.2015.7152313

A UAV solution of regional surveillance based on pheromones and artificial potential field theory

Yaohong Qu, Yintao Zhang, Youmin Zhang

School of Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

15 Scopus citations

Abstract

In recent years, the regional surveillance has an increasingly range of applications. This paper proposes a solution for using multiple UAVs to regional surveillance based on pheromones and artificial potential field theory. First, the flight environment of target area is divided into a number of units. Then, the pheromones model is applied in each unit. Due to the diffusibility of pheromones, a gradient of pheromones would be formed in the target area. After that, the UAV would fly along the gradient of pheromones towards the high intensity areas. Finally, the solution is improved with artificial potential field theory for successfully resolving the issues of obstacle avoidance, collision avoidance and optimal search. Simulations in three cases have been carried out to verify the effectiveness of the proposed solution.

Original language	English
Title of host publication	2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	380-385
Number of pages	6
ISBN (Electronic)	9781479960101
DOIs	https://doi.org/10.1109/ICUAS.2015.7152313
State	Published - 7 Jul 2015
Event	2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015 - Denver, United States Duration: 9 Jun 2015 → 12 Jun 2015

Publication series

Name	2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015

Conference

Conference	2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
Country/Territory	United States
City	Denver
Period	9/06/15 → 12/06/15

Access to Document

10.1109/ICUAS.2015.7152313

Cite this

Qu, Y., Zhang, Y., & Zhang, Y. (2015). A UAV solution of regional surveillance based on pheromones and artificial potential field theory. In 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015 (pp. 380-385). Article 7152313 (2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUAS.2015.7152313

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title = "A UAV solution of regional surveillance based on pheromones and artificial potential field theory",

abstract = "In recent years, the regional surveillance has an increasingly range of applications. This paper proposes a solution for using multiple UAVs to regional surveillance based on pheromones and artificial potential field theory. First, the flight environment of target area is divided into a number of units. Then, the pheromones model is applied in each unit. Due to the diffusibility of pheromones, a gradient of pheromones would be formed in the target area. After that, the UAV would fly along the gradient of pheromones towards the high intensity areas. Finally, the solution is improved with artificial potential field theory for successfully resolving the issues of obstacle avoidance, collision avoidance and optimal search. Simulations in three cases have been carried out to verify the effectiveness of the proposed solution.",

author = "Yaohong Qu and Yintao Zhang and Youmin Zhang",

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doi = "10.1109/ICUAS.2015.7152313",

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Qu, Y, Zhang, Y & Zhang, Y 2015, A UAV solution of regional surveillance based on pheromones and artificial potential field theory. in 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015., 7152313, 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015, Institute of Electrical and Electronics Engineers Inc., pp. 380-385, 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015, Denver, United States, 9/06/15. https://doi.org/10.1109/ICUAS.2015.7152313

A UAV solution of regional surveillance based on pheromones and artificial potential field theory. / Qu, Yaohong; Zhang, Yintao; Zhang, Youmin.
2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 380-385 7152313 (2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - In recent years, the regional surveillance has an increasingly range of applications. This paper proposes a solution for using multiple UAVs to regional surveillance based on pheromones and artificial potential field theory. First, the flight environment of target area is divided into a number of units. Then, the pheromones model is applied in each unit. Due to the diffusibility of pheromones, a gradient of pheromones would be formed in the target area. After that, the UAV would fly along the gradient of pheromones towards the high intensity areas. Finally, the solution is improved with artificial potential field theory for successfully resolving the issues of obstacle avoidance, collision avoidance and optimal search. Simulations in three cases have been carried out to verify the effectiveness of the proposed solution.

AB - In recent years, the regional surveillance has an increasingly range of applications. This paper proposes a solution for using multiple UAVs to regional surveillance based on pheromones and artificial potential field theory. First, the flight environment of target area is divided into a number of units. Then, the pheromones model is applied in each unit. Due to the diffusibility of pheromones, a gradient of pheromones would be formed in the target area. After that, the UAV would fly along the gradient of pheromones towards the high intensity areas. Finally, the solution is improved with artificial potential field theory for successfully resolving the issues of obstacle avoidance, collision avoidance and optimal search. Simulations in three cases have been carried out to verify the effectiveness of the proposed solution.

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Qu Y, Zhang Y, Zhang Y. A UAV solution of regional surveillance based on pheromones and artificial potential field theory. In 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 380-385. 7152313. (2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015). doi: 10.1109/ICUAS.2015.7152313

A UAV solution of regional surveillance based on pheromones and artificial potential field theory

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