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

doi:10.3390/s22030891

HFCAS OpenIR

	A Path Planning Method with Perception Optimization Based on Sky Scanning for UAVs
	Yuan, Songhe 1; Ota, Kaoru 2; Dong, Mianxiong 2; Zhao, Jianghai3
	2022-02-01
发表期刊	SENSORS
通讯作者	Yuan, Songhe(sevenyuan6@gmail.com)
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.
关键词	unmanned aerial vehicle (UAV) path planning scene understanding
DOI	10.3390/s22030891
关键词[WOS]	SCENE ; TRACKING
收录类别	SCI
语种	英语
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]
项目资助者	JSPS KAKENHI ; Leading Initiative for Excellent Young Researchers (LEADER), MEXT, Japan ; JST, PRESTO ; Jiangsu Provincial Key Research and Development Program
WOS研究方向	Chemistry ; Engineering ; Instruments & Instrumentation
WOS类目	Chemistry, Analytical ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:000757215100001
出版者	MDPI
引用统计	被引频次：9[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.hfcas.ac.cn:8080/handle/334002/127480
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.Chinese Acad Sci, HeFei Inst Phys Sci, Inst Adv Mfg Technol, Changzhou 213164, Jiangsu, Peoples R China 2.Muroran Inst Technol, Dept Informat & Elect Engn, Muroran, Hokkaido 0508585, Japan 3.Chinese Acad Sci, HeFei Inst Phys Sci, Hefei 230031, Peoples R China
第一作者单位	中科院合肥物质科学研究院先进制造技术研究所
通讯作者单位	中科院合肥物质科学研究院先进制造技术研究所
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).