Autonomous sensor control for mobile platforms operating in teams

Abstract

New algorithms for appropriate planning and dynamic control of pan-tilt-zoom sensors (stationary or mounted on mobile systems) in in context of reconnaissance missions have been developed at Fraunhofer IOSB. These algorithms are based on the prior proposed solutions for an efficient control of robotic vehicles and groups of heterogeneous robotic vehicles.In this paper two specific algorithms (deterministic and non-deterministic) are referenced, and it is exploited how these algorithms -originally developed for the control of unmanned vehicles of potential different domainscan be adapted to also support the intelligent autonomous sensor control. The aim is to maximize the effectiveness of these sensors when used in reconnaissance missions.The deterministic algorithm is based on extensive pre-planning that considers all relevant aspects of the task at hand and the optical sensors to be used like target area, restricted zones, fields of view, resolutions, zoom, and uses approximations and assumptions to determine the best possible area coverage. The non-deterministic algorithm does not undertake preplanning but rather provides basic behaviors and mission relevant compiled information that is used by the autonomous control system to identify the most reasonable actions based on the current situation.Both algorithm types are suitable for the autonomous control of (heterogeneous) cooperative sensors without any operator interaction. To provide effective and efficient reconnaissance, the usage of each sensor assigned to the operation must be optimized and depending on the task ensure best possible coverage of the mission-relevant area, focus on certain areas by increasing the scanning cadence, etc. To provide sufficient image resolution and quality, the footprint should cover each specified target for a defined time period with a suitable zoom level. Changing alignment angles and relative positions must be continuously taken into account. Therefore, regarding sensors mounted on mobile systems (flying, swimming or driving) planning and control need to be fast and reliable in order to take the movements of the carrier platform into account. The theoretical foundations and practical approaches of the algorithms are compared and discussed.