
Improving Sensor Scheduling in UAV Multi-Target Tracking with Sensor Performance Models
Simon Koch(Author)
Dr. Hut (Publisher)
Published on 3. December 2024
Book
Hardback
200 pages
978-3-8439-5540-9 (ISBN)
Description
In recent years, unmanned aerial vehicles (UAVs) have gained significant interest for multi-target tracking, particularly in surveillance, search and rescue, and environmental monitoring. This thesis focuses on tracking multiple ground targets using a UAV equipped with a steerable, variable focal length visual sensor, addressing challenges in perception, sensor scheduling, and control. A novel sensor performance estimation method is introduced, linked to defined perception levels that quantify target perception quality. A modular system architecture for UAVs, sensor performance models (SPMs), and sensor scheduling based on a Partially Observable Markov Decision Process (POMDP) are proposed. Real-world imagery is used to train and evaluate these models. Extensive Monte Carlo simulations assess scheduling and control algorithm performance across different scenarios. This thesis contributes to UAV-based multi-target tracking by developing and evaluating novel methodologies, offering insights for future advancements in the field.
More details
Series
Thesis
Doctoral thesis
2023
Universität der Bundeswehr München
Language
English
Place of publication
München
Dimensions
Height: 21 cm
Width: 14.8 cm
Weight
394 gr
ISBN-13
978-3-8439-5540-9 (9783843955409)
Schweitzer Classification