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Informative Sensor Planning for a Single-Axis Gimbaled Camera on a Fixed-Wing UAV

Authors :
Parandekar, Aditya
Moon, Brady
Suvarna, Nayana
Scherer, Sebastian
Publication Year :
2024

Abstract

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.<br />Comment: 7 pages, 6 figures, CASE 2024

Subjects

Subjects :
Computer Science - Robotics

Details

Database :
arXiv
Publication Type :
Report
Accession number :
edsarx.2407.04896
Document Type :
Working Paper