Skip to content

dipinknair/search_area_optimization

Repository files navigation

Search Area Optimization

Objective

To solve the surveillance problem of a given hostile area, in GPS-denied scenario by deploying multiple vehicles. Vehicles estimate their states collectively by sharing sensor information with each other, known as Cooperative Localization in literature. For the system to be observable, a path to two landmarks is required. Since deploying landmarks is not a pliable solution all the time, we deploy another team of vehicles that act as a sensor network by maintaining connectivity to landmarks outside the environment, to maintain localization accuracy. Since the overall optimization problem is NP-hard, we divide the problem into three sub-problems:

  • Maximizing surveillance area using Particle Swarm Optimization.
  • Solving Travelling Salesman Problem for efficient vehicle routing and
  • developing a control strategy for the sensor network to maintain graph connectivity. We present simulation results using MATLAB/Simulink

Result

Image Image

About

Search Area optimization of UAVs

Resources

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published

Languages