کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
4958902 | 1445460 | 2017 | 12 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Trajectory optimization under kinematical constraints for moving target search
ترجمه فارسی عنوان
بهینه سازی مسیر تحت محدودیت های حرکتی برای حرکت جستجوی هدف
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کلمات کلیدی
تئوری جستجو بهینه سازی مسیر جستجو برنامه ریزی خطی عدد صحیح، وسایل نقلیه هوایی، اهداف حرکتی،
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
علوم کامپیوتر (عمومی)
چکیده انگلیسی
Various recent events in the Mediterranean sea have shown the enormous importance of maritime search-and-rescue missions. By reducing the time to find floating victims, the number of casualties can be reduced. A major improvement can be achieved by employing unmanned aerial systems for autonomous search missions. In this context, the need for efficient search trajectory planning methods arises. Existing approaches either consider K-step-lookahead optimization without accounting for kinematics of fixed-wing platforms or propose a suboptimal myopic method. A few approaches consider both aspects, however only applicable to stationary target search. The contribution of this article consists of a novel method for Markovian target search-trajectory optimization. This is a unified method for fixed-wing and rotary-wing platforms, taking kinematical constraints into account. It can be classified as K-step-lookahead planning method, which allows for anticipation to the estimated future position and motion of the target. The method consists of a mixed integer linear program that optimizes the cumulative probability of detection. We show the applicability and effectiveness in computational experiments for three types of moving targets: diffusing, conditionally deterministic, and Markovian. This approach is the first K-step-lookahead method for Markovian target search under kinematical constraints.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Computers & Operations Research - Volume 88, December 2017, Pages 324-331
Journal: Computers & Operations Research - Volume 88, December 2017, Pages 324-331
نویسندگان
Manon Raap, Martin Zsifkovits, Stefan Pickl,