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Title: Static targets' track path for UAVs meeting the revisit interval requirement
Authors: He, Z.
Xu, J.-X. 
Ren, Q.
Keywords: Dubins path
Path planning
Revisit time interval
Unmanned aerial vehicles
Issue Date: 2013
Source: He, Z.,Xu, J.-X.,Ren, Q. (2013). Static targets' track path for UAVs meeting the revisit interval requirement. IEEE International Symposium on Industrial Electronics : -. ScholarBank@NUS Repository.
Abstract: This paper addresses the problem of autonomous tracking a set of ground static targets using minimal fixed wing unmanned aerial vehicles(UAVs). Each target is tracked loosely and has its desired revisit interval. Due to the UAV's dynamic constrains of fixed wing, it is modeled as a Dubins car. The motion planing of UAVs is a NP hard problem to find the shortest path, i.e. Dubins path. Because of the constraint of revisit interval, the decomposition of targets can not be done only based on the distance between each other as the classic method does. Based on the algorithm of computing Dubins path, an algorithm is thus introduced for sub-optimal track path which can bring a closed-loop path for UAVs continuously tracking this set of targets within the desired revisit interval. To test the algorithm, simulations are given. © 2013 IEEE.
Source Title: IEEE International Symposium on Industrial Electronics
ISBN: 9781467351942
DOI: 10.1109/ISIE.2013.6563763
Appears in Collections:Staff Publications

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