UAV intelligent path planning for wilderness search and rescue

Authors:
Lanny Lin;Michael A. Goodrich
Affiliations:
Computer Science Department, Brigham Young University;Computer Science Department, Brigham Young University
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

In the priority search phase of Wilderness Search and Rescue, a probability distribution map is created. Areas with higher probabilities are searched first in order to find the missing person in the shortest expected time. When using a UAV to support search, the onboard video camera should cover as much of the important areas as possible within a set time. We explore several algorithms (with and without set destination) and describe some novel techniques in solving this problem and compare their performances against typical WiSAR scenarios. This problem is NP-hard, but our algorithms yield high quality solutions that approximate the optimal solution, making efficient use of the limited UAV flying time.