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Dual Ground Target Monitoring With Unmanned Aerial Vehicles

Babu, Arun Vishnu Suresh and Ghose, Debasish (2013) Dual Ground Target Monitoring With Unmanned Aerial Vehicles. In: IEEE International Conference on Control Applications (CCA), AUG 28-30, 2013 , Hyderabad, INDIA , pp. 1048-1053.

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Official URL: http://dx.doi.org/10.1109/CCA.2013.6662890

Abstract

This paper addresses the problem of path planning for fixed wing Unmanned Aerial Vehicles (UAVs) for monitoring two different ground targets simultaneously. The UAVs are modelled as Dubins vehicles that can move only in the forward direction and are constrained by a bound on the minimum turn radius. The problem is formulated as an optimal control problem with both control and state inequality constraints along with a terminal manifold constraint. Subsequently, time optimal paths for the UAVs are obtained using Pontryagin's minimum principle.

Item Type: Conference Proceedings
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Additional Information: Copy right for this article belongs to the IEEE International Conference on Control Applications (CCA), Hyderabad, INDIA, AUG 28-30, 2013
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)
Date Deposited: 24 Aug 2016 09:54
Last Modified: 24 Aug 2016 09:54
URI: http://eprints.iisc.ernet.in/id/eprint/54582

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