Information Entropy-Based Cooperative Surveillance in Areas with Obstacles

Abstract

This paper solves the problem of searching a surveillance region and tracking possible radio emitters by multiple unmanned aerial vehicles cooperating through communication links in a decentralized manner. An innovative entropy-based approach is utilized to obtain the routes and tasks (search/track) for the vehicles. Another significant contribution of this research is the assumption of each vehicle being equipped with only one simple and cost-effective direction finding (DF) sensor. The routes and tasks are determined by minimizing a well-defined entropy-based cost function. The proposed surveillance scheme allows one to find a feasible and near-optimal solution. The algorithm’s efficiency is verified through various simulations.