TY - GEN
T1 - A UAV solution of regional surveillance based on pheromones and artificial potential field theory
AU - Qu, Yaohong
AU - Zhang, Yintao
AU - Zhang, Youmin
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/7/7
Y1 - 2015/7/7
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.
UR - http://www.scopus.com/inward/record.url?scp=84941094536&partnerID=8YFLogxK
U2 - 10.1109/ICUAS.2015.7152313
DO - 10.1109/ICUAS.2015.7152313
M3 - 会议稿件
AN - SCOPUS:84941094536
T3 - 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
SP - 380
EP - 385
BT - 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 International Conference on Unmanned Aircraft Systems, ICUAS 2015
Y2 - 9 June 2015 through 12 June 2015
ER -