Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/134451
Title: SURVEILLANCE MISSION PLANNING FOR UAVS IN GPS-DENIED URBAN ENVIRONMENT
Authors: WANG PENGFEI
Keywords: UAV, surveillance, GPS-denied, coverage path planning, perching, landing
Issue Date: 8-Aug-2016
Source: WANG PENGFEI (2016-08-08). SURVEILLANCE MISSION PLANNING FOR UAVS IN GPS-DENIED URBAN ENVIRONMENT. ScholarBank@NUS Repository.
Abstract: In this thesis, the issues involved in the mission planning of UAVs for city surveillance have been studied. In this thesis, the research includes two major parts. Firstly, a mission planning system is developed that generates mission plans for a group of fixed-wing UAVs with on-board gimballed cameras to provide continuous surveillance over an urban area. Secondly, the problem of perching location selection (as part of perch-and-stare surveillance mission) for rotary-wing UAVs in a GPS-denied environment is studied. In this kind of mission, a UAV is dispatched to perch on a roof of a building to keep surveillance on a given target. The proposed algorithms to UAV surveillance mission planning (fixed-wing and rotary-wing) have been implemented and tested. It represents an important step towards achieving autonomous planning in UAV surveillance missions.
URI: http://scholarbank.nus.edu.sg/handle/10635/134451
Appears in Collections:Ph.D Theses (Open)

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