تقرير
Informative Sensor Planning for a Single-Axis Gimbaled Camera on a Fixed-Wing UAV
| العنوان: | Informative Sensor Planning for a Single-Axis Gimbaled Camera on a Fixed-Wing UAV |
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| المؤلفون: | Parandekar, Aditya, Moon, Brady, Suvarna, Nayana, Scherer, Sebastian |
| سنة النشر: | 2024 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics |
| الوصف: | Uncrewed Aerial Vehicles (UAVs) are a leading choice of platforms for a variety of information-gathering applications. Sensor planning can enhance the efficiency and success of these types of missions when coupled with a higher-level informative path-planning algorithm. This paper aims to address these data acquisition challenges by developing an informative non-myopic sensor planning framework for a single-axis gimbal coupled with an informative path planner to maximize information gain over a prior information map. This is done by finding reduced sensor sweep bounds over a planning horizon such that regions of higher confidence are prioritized. This novel sensor planning framework is evaluated against a predefined sensor sweep and no sensor planning baselines as well as validated in two simulation environments. In our results, we observe an improvement in the performance by 21.88% and 13.34% for the no sensor planning and predefined sensor sweep baselines respectively. Comment: 7 pages, 6 figures, CASE 2024 |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2407.04896 |
| رقم الأكسشن: | edsarx.2407.04896 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |