Abstract
When searching for targets using unmanned aerial vehicles, speed is important for many applications such as the discovery of patients in a medical emergency. The speed of operation of actual unmanned aerial vehicles is strongly related to the performance of the camera sensor used for target recognition, search altitude, and the search algorithm employed by the unmanned aerial vehicle. In this study, the major factors affecting the speed of a probabilistic unmanned aerial vehicle target search are analyzed. In particular, simulations are performed to analyze the influence of the search altitude, sensor false alarm rate, and sensor missed detection rate on the required travel distance and the time required for a search. Furthermore, the search performance of an unmanned aerial vehicle is analyzed by varying the search altitude with fixed false alarm and missed detection probabilities. The simulation results show that the search performance is significantly affected by changes in the false alarm and missed detection probabilities of the sensor, and it confirms that the effect of the missed detection probability is greater than that of the false alarm probability. The second simulation proves that the altitude of an unmanned aerial vehicle is a very important factor for the speed of a target search. In particular, the result shows that, for a real data set, the search distance and time at 10 and 5 m are about 2.8 times and 14.3 times larger, respectively, than those at 20 m.
Highlights
Speed is a critical factor when searching for targets in a wide search area using unmanned aerial vehicles (UAVs)
This study is different and unique compared with previous studies based on the following points: First, we investigated the importance of search altitude in probability search of drones by associating false alarm and missed detection, which are important factors of probability search
We simulated the performance of the drone when the search altitude changes in various environments, which is an important factor affecting the search performance in the probabilistic search of the drones
Summary
Speed is a critical factor when searching for targets in a wide search area using unmanned aerial vehicles (UAVs). UAVs are difficult to control directly from a remote location, and autonomous navigation is required to locate a target. The search altitude and performance of the search sensor are the major factors that affect the search performance of a UAV in a probabilistic search, which requires autonomous navigation. The probabilistic search method is one of the most studied methods for autonomous navigation.[3,4] The probability of a target being present in the search area is recursively updated by the method while
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