Emergency Localization for Mobile Ground Users: An Adaptive UAV Trajectory Planning Method

• DOI: 10.48550/arxiv.2401.07256
• Publication Date: 2024-01-01
• Authors: Zhihao Zhu; Jiafan He; Luyang Hou; Lianming Xu; Wendi Zhu; Wang Li
• Keywords: Search and rescue

In emergency search and rescue scenarios, the quick location of trapped people is essential. However, disasters can render Global Positioning System (GPS) unusable. Unmanned aerial vehicles (UAVs) with localization devices serve as mobile anchors due to their agility high line-of-sight (LoS) probability. Nonetheless, number available UAVs during initial stages disaster relief limited, innovative methods are needed quickly plan UAV trajectories locate non-uniformly distributed dynamic targets while ensuring accuracy. To address this challenge, we design a single method without hovering, use maximum likelihood estimation (MLE) estimate users define upper bound error by considering users' movement.Combining error-index, utilize enhanced particle swarm optimization (EPSO) algorithm edge access strategy develop low complexity localization-oriented adaptive trajectory planning algorithm. Simulation results demonstrate that our outperforms other baseline algorithms, enabling faster compromising