Coverage strategy for target location in marine environments using fixed-wing UAVs

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Show simple item record Muñoz Mendi, Javier López Palomino, Blanca Quevedo Vallejo, Fernando Monje Micharet, Concepción Alicia Garrido Bullón, Luis Santiago Moreno Lorente, Luis Enrique 2022-01-24T12:39:42Z 2022-01-24T12:39:42Z 2021-12
dc.identifier.bibliographicCitation Muñoz, J., López, B., Quevedo, F., Monje, C. A., Garrido, S. & Moreno, L. E. (2021a). Coverage Strategy for Target Location in Marine Environments Using Fixed-Wing UAVs. Drones, 5(4), 120.
dc.identifier.issn 2504-446X
dc.description.abstract In this paper, we propose a coverage method for the search of lost targets or debris on the ocean surface. The OSCAR data set is used to determine the marine currents and the differential evolution genetic filter is used to optimize the sweep direction of the lawnmower coverage and get the sweep angle for the maximum probability of containment. The position of the target is determined by a particle filter, where the particles are moved by the ocean currents and the final probabilistic distribution is obtained by fitting the particle positions to a Gaussian probability distribution. The differential evolution algorithm is then used to optimize the sweep direction that covers the highest probability of containment cells before the less probable ones. The algorithm is tested with a variety of parameters of the differential evolution algorithm and compared to other popular optimization algorithms.
dc.description.sponsorship This research was funded by the European Commission: Innovation and Networks Executive Agency (INEA), through the European H2020 LABYRINTH project. Grant agreement H2020-MG-2019-TwoStages-861696.
dc.format.extent 16
dc.language.iso eng
dc.publisher MDPI
dc.rights © 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license.
dc.rights Atribución 3.0 España
dc.subject.other Coverage path planning
dc.subject.other UAVs
dc.subject.other Genetic algorithms
dc.subject.other Differential evolution
dc.subject.other Search algorithms
dc.title Coverage strategy for target location in marine environments using fixed-wing UAVs
dc.type article
dc.subject.eciencia Robótica e Informática Industrial
dc.rights.accessRights openAccess
dc.relation.projectID info:eu-repo/grantAgreement/EC/861696
dc.type.version publishedVersion
dc.identifier.publicationfirstpage 120
dc.identifier.publicationissue 4
dc.identifier.publicationtitle Drones
dc.identifier.publicationvolume 5
dc.identifier.uxxi AR/0000029001
dc.contributor.funder European Commission
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