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Cooperative Search and Track of Moving Targets in Urban Areas Using Unmanned Aircraft

Karimi, Samine | 2024

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  1. Type of Document: Ph.D. Dissertation
  2. Language: Farsi
  3. Document No: 57113 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Saghafi, Fariborz
  7. Abstract:
  8. This thesis addresses the topic of cooperative search by a group of unmanned aerial vehicles (UAVs) in a bounded region, while encountering obstacles and searching for moving targets. A review of relevant research on cooperative search for finding one or multiple targets is presented. Then, a general description of the logic of cooperative search, which is based on optimal routing by minimizing a cost function, is explained. In this context, three maps called the uncertainty map, target presence probability map, and target map are introduced. Two phases of search and tracking are defined for the UAVs, and the criteria for achieving each phase are presented. In the search phase, each UAV makes its uncertainty and probability map, based on the region and the information gathered and shares these tow maps with all neighbor UAVs. Then combining all neighbor UAVs uncertainty and probability maps is done, using the logic presented in this research. After detection of a target, one UAV is assigned to track it and share its target map that includes estimated position of the tracking target. A cost function is then calculated based on the combined triple maps and the optimization algorithm simultaneously optimizes routs and tasks in order to obtain the most coverage of the region, the more accuate detection and then tracking of targets. It is assumed that each UAV is equipped only with one unideal radio sensor with one output (range or angle). Despite the limitation of this assumption, it is observed in the results section that by employing the defined search logic, search and tracking missions in the presence of obstacles can be executed with high quality and success. In the following sections of the report, the problem statement, objectives, and innovations are described in more detail
  9. Keywords:
  10. Cooperative Search and Localization ; Search ; Target Detection ; Target Tracking Problem ; Dynamic Target Tracking ; Unmanned Aerial Vehicles (UAV) ; Moving Obstacles ; Unmanned Aircrafts

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