The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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Behaviour Recognition of Ground Vehicle for Airborne Monitoring by UAV Swarm

Seungkeun Kim
Cranfield University
United Kingdom

Rafal Zbikowski
Cranfield University
United Kingdom

Antonios Tsourdos
Cranfield University
United Kingdom

Brian A. White
Cranfield University
United Kingdom

Abstract:
This paper focuses on development of behaviour recognition technique for airborne monitoring of ground traffic to detect hidden threats. To enhance tracking accuracy, sensor fusion and smoothing are applied with Kalman filter. To tackle behaviour recognition, trajectory approximation and classification methodology is proposed using differential geometric quantities and string matching. Simulation on a ground vehicle is done to verify the feasibility of the proposed algorithms.

 

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