Parameterized trajectories for target localization using small and micro unmanned aerial vehicles

This paper presents an approach to near-optimal target localization for small and micro uninhabited aerial vehicles using a family of pre-computed parameterized trajectories. These trajectories are pre-computed for a set of nominal target locations uniformly distributed over the sensor field of view and stored offline as a sequence of non-dimensional waypoints. Upon target detection, a trajectory corresponding to the nearest nominal target location is selected and dimensionalized. An onboard waypoint-navigating controller follows the waypoints. Thus, trajectory generation occurs in near-constant time, which allows for fast adaptation as the target state estimate is refined. Parameterization of the trajectories with respect to relative vehicle speed, sensor range, and sensor update rate allows the same table to be used for various combinations of sensor package and vehicle or vehicle operating conditions.