Mission Planning for UAV Sensing Tasks in Close Proximity Environments 2007-01-3846

Unmanned aerial vehicles (UAVs) stand to play a significant role in future sensing and information gathering missions. The scope of these mission scenarios is expanding to include those missions for which the sensor and carrier vehicle will be in close proximity to the surrounding environment, such as in urban operations. Several unique problems related to guidance, navigation and control are introduced that separate these tasks from the existing paradigm for information gathering missions at standoff range. This paper examines the challenges related to autonomous sensor planning missions in these close proximity environments and discusses solution strategies to achieve maximal sensing effectiveness. Specifically, results from vision-based navigation research are discussed and the concept of a geometric sensing effectiveness criterion is introduced and subsequently utilized for motion planning.