Automated sensor platform routing and tracking for observing a region of interest while avoiding obstacles

摘要

A path is automatically routed for a sensor platform that projects a constant sensor footprint to the surface to observe a region of interest without crossing into an excluded area and to tracking that path. The path is routed by defining a bounding region around the region of interest and defining a convex hull around an obstacle within the region of interest. A parallel arrangement of rectangular planks is generated from each edge of the convex hull out to the bounding region. The extent of each rectangular plank is bounded at one end by the intersection of the plank with the bounding region and at the other end by the intersection of the plank with an extension of a next edge of the convex hull. The path is routed to traverse the parallel arrangement of rectangular planks for each edge of the convex hull in a raster scan pattern and to circle the convex hull in a clockwise or counter-clockwise direction. The path is tracked and the surface below sensed to capture a sequence of sensor outputs that together cover the entire region of interest except the region excluded by the convex hull.

主权项

1. A method of routing a sensor platform along a path to observe a region of interest and avoid obstacles within the region of interest, said sensor platform having a sensor that projects a constant sensor footprint to the surface of the region of interest, the method comprising:
defining a bounding region around the region of interest; defining a convex hull around an obstacle within the region of interest; generating a parallel arrangement of rectangular planks from each edge of the convex hull out to the bounding region, the extent of each said rectangular plank bounded at one end by the intersection of the plank with the bounding region and at the other end by the intersection of the plank with an extension of a next edge of the convex hull; routing a path to traverse the parallel arrangement of rectangular planks for each edge of the convex hull in a raster scan pattern and to circle the convex hull in a clockwise or counter-clockwise direction; and tracking the path and sensing the surface below to capture a sequence of sensor outputs that together cover the entire region of interest except the region excluded by the convex hull.