A Path Planning Method with Perception Optimization Based on Sky Scanning for UAVs

doi:10.3390/s22030891

	A Path Planning Method with Perception Optimization Based on Sky Scanning for UAVs
	Yuan, Songhe 3; Ota, Kaoru 1; Dong, Mianxiong 1; Zhao, Jianghai 2
刊名	SENSORS
	2022-02-01
卷号	22
关键词	unmanned aerial vehicle (UAV) path planning scene understanding
DOI	10.3390/s22030891
通讯作者	Yuan, Songhe(sevenyuan6@gmail.com)
英文摘要	Unmanned aerial vehicles (UAVs) are frequently adopted in disaster management. The vision they provide is extremely valuable for rescuers. However, they face severe problems in their stability in actual disaster scenarios, as the images captured by the on-board sensors cannot consistently give enough information for deep learning models to make accurate decisions. In many cases, UAVs have to capture multiple images from different views to output final recognition results. In this paper, we desire to formulate the fly path task for UAVs, considering the actual perception needs. A convolutional neural networks (CNNs) model is proposed to detect and localize the objects, such as the buildings, as well as an optimization method to find the optimal flying path to accurately recognize as many objects as possible with a minimum time cost. The simulation results demonstrate that the proposed method is effective and efficient, and can address the actual scene understanding and path planning problems for UAVs in the real world well.
资助项目	JSPS KAKENHI[JP19K20250] ; JSPS KAKENHI[JP20F20080] ; JSPS KAKENHI[JP20H04174] ; Leading Initiative for Excellent Young Researchers (LEADER), MEXT, Japan ; JST, PRESTO[JPMJPR21P3] ; Jiangsu Provincial Key Research and Development Program[BE2017007-1]
WOS关键词	SCENE ; TRACKING
WOS研究方向	Chemistry ; Engineering ; Instruments & Instrumentation
语种	英语
出版者	MDPI
WOS记录号	WOS:000757215100001
资助机构	JSPS KAKENHI ; Leading Initiative for Excellent Young Researchers (LEADER), MEXT, Japan ; JST, PRESTO ; Jiangsu Provincial Key Research and Development Program
内容类型	期刊论文
源URL	[http://ir.hfcas.ac.cn:8080/handle/334002/127479]
专题	中国科学院合肥物质科学研究院
通讯作者	Yuan, Songhe
作者单位	1.Muroran Inst Technol, Dept Informat & Elect Engn, Muroran, Hokkaido 0508585, Japan 2.Chinese Acad Sci, HeFei Inst Phys Sci, Hefei 230031, Peoples R China 3.Chinese Acad Sci, HeFei Inst Phys Sci, Inst Adv Mfg Technol, Changzhou 213164, Jiangsu, Peoples R China
推荐引用方式 GB/T 7714	Yuan, Songhe,Ota, Kaoru,Dong, Mianxiong,et al. A Path Planning Method with Perception Optimization Based on Sky Scanning for UAVs[J]. SENSORS,2022,22.
APA	Yuan, Songhe,Ota, Kaoru,Dong, Mianxiong,&Zhao, Jianghai.(2022).A Path Planning Method with Perception Optimization Based on Sky Scanning for UAVs.SENSORS,22.
MLA	Yuan, Songhe,et al."A Path Planning Method with Perception Optimization Based on Sky Scanning for UAVs".SENSORS 22(2022).