Abstract
The paper presents an approach of entropy search ground objects by unmanned aerial vehicles. The UAV path is planned by optimization proposed criterion of throughput. This criterion takes into account a priori distribution of probability of presence search object in search area, the distance between UAV and next possible waypoint and search object observability evaluated with known distribution density of observed mark. The article shows that resulting search time can be significantly decreased by clarifying the initial estimates of the search object presence distribution in search area, that’s leads to decreasing an initial entropy of object position. The authors offer use the situation analyze approach to reduce number of possible regions of search. The situation analyze approach is based on a description of search situation evaluated with: description of the search object, description of the search area, description of an environment and the relationships between those factors. The article presents the results of computer modeling of the proposed approach #CSOC1120.
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Financial support was provided by the Russian Foundation for Basic Research (project 19-08-00613-a).
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Bodunkov, N.E., Kim, N.V., Mikhaylov, N.A. (2020). The Ground Objects Monitoring by UAV Using a Search Entropy Evaluation. In: Silhavy, R. (eds) Applied Informatics and Cybernetics in Intelligent Systems. CSOC 2020. Advances in Intelligent Systems and Computing, vol 1226. Springer, Cham. https://doi.org/10.1007/978-3-030-51974-2_42
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