Informative Sensor Planning for a Single-Axis Gimbaled Camera on a Fixed-Wing UAV
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Acceso en línea: | |
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| _version_ | 1866911946659332096 |
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| author | Parandekar, Aditya Moon, Brady Suvarna, Nayana Scherer, Sebastian |
| author_facet | Parandekar, Aditya Moon, Brady Suvarna, Nayana Scherer, Sebastian |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2407_04896 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Informative Sensor Planning for a Single-Axis Gimbaled Camera on a Fixed-Wing UAV Parandekar, Aditya Moon, Brady Suvarna, Nayana Scherer, Sebastian Robotics 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. |
| title | Informative Sensor Planning for a Single-Axis Gimbaled Camera on a Fixed-Wing UAV |
| topic | Robotics |
| url | https://arxiv.org/abs/2407.04896 |