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Collective Perception Using UAVs: Autonomous Aerial Reconnaissance in a Complex Urban Environment

機(jī)譯：使用無(wú)人機(jī)的集體感知：復(fù)雜城市環(huán)境中的自主空中偵察

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This article examines autonomous reconnaissance in a complex urban environment using unmanned aerial vehicles (UAVs). Environments with many buildings and other types of obstacles and/or an uneven terrain are harder to be explored as occlusion of objects of interest may often occur. First, in this article, the problem of autonomous reconnaissance in a complex urban environment via a swarm of UAVs is formulated. Then, the algorithm based on the metaheuristic approach is proposed for a solution. This solution lies in deploying a number of waypoints in the area of interest to be explored, from which the monitoring is performed, and planning the routes for available UAVs among these waypoints so that the monitored area is as large as possible and the operation as short as possible. In the last part of this article, two types of main experiments based on computer simulations are designed to verify the proposed algorithms. The first type focuses on comparing the results achieved on the benchmark instances with the optimal solutions. The second one presents and discusses the results obtained from a number of scenarios, which are based on typical reconnaissance operations in real environments.
機(jī)譯：本文研究了使用無(wú)人飛行器（UAV）在復(fù)雜的城市環(huán)境中進(jìn)行的自動(dòng)偵察。具有建筑物和其他類型的障礙物和/或不平坦地形的環(huán)境更難以探索，因?yàn)榭赡芙?jīng)常發(fā)生目標(biāo)物體被遮擋的情況。首先，在本文中，闡述了通過大量無(wú)人機(jī)在復(fù)雜的城市環(huán)境中進(jìn)行自動(dòng)偵察的問題。然后，提出了一種基于元啟發(fā)式算法的解決方案。該解決方案在于在要探索的感興趣區(qū)域中部署多個(gè)航點(diǎn)，從中進(jìn)行監(jiān)視，并計(jì)劃這些航點(diǎn)之間的可用無(wú)人機(jī)的路線，以使被監(jiān)視區(qū)域盡可能大而操作盡可能短盡可能。在本文的最后一部分，設(shè)計(jì)了兩種基于計(jì)算機(jī)模擬的主要實(shí)驗(yàn)，以驗(yàn)證所提出的算法。第一類重點(diǎn)是將基準(zhǔn)實(shí)例上的結(jié)果與最佳解決方案進(jìn)行比較。第二部分介紹并討論了從多種場(chǎng)景中獲得的結(jié)果，這些場(chǎng)景基于真實(shí)環(huán)境中的典型偵察操作。

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