Ground breaking concepts in optimal search theory were developed during World War II by the U.S. Navy. These concepts use an assumed detection model to calculate a detection probability rate and an optimal search allocation. Although this theory is useful in determining when and where search effort should be applied, it offers little guidance for the planning of search paths. This paper explains how search theory can be applied to path planning for an SUAV with a fixed CCD camera. Three search strategies are developed: greedy search, contour search, and composite search. In addition, the concepts of search efficiency and search completeness are offered as metrics for search effectiveness. Simulation results comparing the effectiveness of the strategies are presented.
In REF , Hansen et al. propose three search strategies: greedy, contour, and composite search, using a probability grid.
Probabilistic Searching Using a Small Unmanned Aerial Vehicle
AIAA Infotech@Aerospace 2007 Conference and Exhibit
AIAA Infotech@Aerospace 2007 Conference and Exhibit
Computer Science