# Sensor-Model-Based Trajectory Optimization for UAVs to Enhance Detection Performance: An Optimal Control Approach and Experimental Results

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## Abstract

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## 1. Introduction

#### 1.1. State of the Art

#### 1.2. Research Gap

#### 1.3. Research Problem

#### 1.4. Innovative Contribution and Novelty in This Work

#### 1.5. Outline

## 2. Materials and Methods

#### 2.1. Coverage Path Planning for Sensor Control

#### 2.2. Sensor Performance Models

#### 2.2.1. Deep Learning Based Object Detector

- The free code base of the YOLOv3 detector and the availability of public and annotated datasets (e.g., the UAVDT dataset [39]) have contributed to the widespread use of this detector.
- YOLOv3 enables real-time image-based object detection on commercially available hardware [40], which is especially advantageous for use on board the UAV.

**Figure 4.**Procedure for generating the sensor performance model utilizing a YOLOv3 object detector. States, the dataset, and the performance model are shown in light gray, actions are colored in blue. The green rectangle marks the environmental states, consisting of the atmospheric and photographic states.

#### 2.2.2. Machine Learning Based Object Classifier

- Atmospheric states: cloudiness, fog, precipitation and lightening conditions defined by the time of day and month.
- Topographic states: land cover (roads, meadow, water, vegetation and buildings) and the surface roughness within the sensor footprint.
- Photographic states: ground sample distance and the sensor elevation angle (see Figure 6 right plot).

#### 2.2.3. Perception Maps

#### 2.3. Optimal Control for UAV Trajectory Optimization

- The earth is assumed stationary and flat.
- The earth-fixed coordinate system is considered as an inertial system.
- The influence of wind or turbulence on the motion of the aircraft is neglected.
- The airspeed is predefined and can be considered approximately constant.
- The UAV is assumed to operate at a constant altitude, making the equation of motion for vertical motion obsolete.

#### 2.4. Trajectory Optimization with Nonlinear Model Predictive Control

- The solution of the OCP is obtained by closed-loop control. This allows for the compensation of uncertainties between the modeled system dynamics and the real system.
- Model predictive control is one of the few methods to handle hard system state and/or control input constraints [47].
- The course of the setpoints does not need to reproduce the system dynamics exactly.

- A suitable model must be found and modeled in order to be able to reproduce the system dynamics with sufficient accuracy.
- From the nonlinear system dynamics follows a general non-convex optimal control problem, for which only local optimal results can be computed [48].

#### 2.4.1. Fan-Shaped Path Planning

#### 2.4.2. Nonlinear Model Predictive Control

- The current system state ${x}_{n}$ at time ${t}_{n}$ is measured.
- The optimal control problem (22) is solved for the quadratic objective function (23) and the setpoint values ${x}_{n+k}^{ref}$ and ${u}_{n+k}^{ref}$. The result is the optimal control strategy ${\pi}^{\ast}\left({x}_{n}\right)$ with respect to the current state ${x}_{n}$.
- From the optimal control strategy ${\pi}^{\ast}\left({x}_{n}\right)$, the initial control input ${u}_{n}^{\ast}={\mu}_{n}^{\ast}\left({x}_{n}\right)$ is applied to the dynamical system for the duration of one time step $\Delta t$.
- At the end of the time step, the updated system state ${x}_{n+1}$ is measured at time ${t}_{n+1}$.
- The NMPC algorithm starts again at point 1 with the updated system state and continues until all time steps ${t}_{n}$ have been processed.

#### 2.4.3. Combining Path Planning and NMPC for Trajectory Optimization

#### 2.5. Trajectory Optimization with Dynamic Programming

#### 2.5.1. Dubins Path

- The velocity v of the UAV must be set constant.
- The maximum permissible roll angle ${\varphi}_{max}$ has to be defined.

#### 2.5.2. Dynamic Programming and Optimal Control

#### 2.5.3. Dubins Path Segments Smoothing

#### 2.6. Benchmark Trajectories

- Circle pattern.
- Racetrack pattern.
- Figure-8 pattern.

#### 2.7. Implementation

## 3. Results

#### 3.1. Validation Process and General Specifications

#### 3.2. Route Reconnaissance Scenario

#### 3.2.1. NMPC Trajectory Optimization

#### 3.2.2. DP&OC Trajectory Optimization

#### 3.3. Area Reconnaissance Scenario

#### 3.3.1. NMPC Trajectory Optimization

#### 3.3.2. DP&OC Trajectory Optimization

#### 3.4. Computational Effort

## 4. Discussion

## 5. Conclusions

## Author Contributions

## Funding

## Institutional Review Board Statement

## Informed Consent Statement

## Data Availability Statement

## Conflicts of Interest

## Abbreviations

AP | Average precision |

BLOB | Binary large object |

CPP | Coverage path planning |

CC | Classification cascade |

CC-SPM | Sensor performance model based on classification cascade object classifier |

DPM | Deformable part model |

DP&OC | Dynamic programming and optimal control |

FN | False negative |

FP | False positive |

GIS | Geographic information service |

GSD | Ground sample distance |

IoU | Intersection over union |

NMPC | Nonlinear model predictive control |

OCP | Optimal control problem |

PM | Perception map |

TM | Template matching |

TP | True positive |

UAV | Unmanned aerial vehicle |

Yolo-SPM | Sensor performance model based on YOLOv3 object detector |

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**Figure 1.**Illustration of relevant influencing factors on sensor-model-based trajectory optimization. Adapted from [13].

**Figure 2.**Principle of coverage path planning for a reconnaissance area (green). The sensor footprint path defines the positioning of the individual sensor footprints (pale blue). The size of the footprint is defined by ${w}_{fp}$ and the Euclidean distance between footprints is determined by ${d}_{fp}$. The black dotted line marks the scanned area.

**Figure 3.**The sensor performance model maps selected environmental states to the expected detection performance of a specific perception chain (not displayed). These environmental states comprise atmospheric, photographic, and topographic conditions resulting from the positioning of the UAV and the sensor footprint on the ground.

**Figure 5.**Illustration of the average precision (color-coded) for different interval ranges of the ground sample distance and the elevation angle corresponding to a specific composition of the environmental state.

**Figure 6.**Representation of a perception map from the CC sensor performance model as a 3-dimensional plot (

**left**) and the same map in a planar representation (

**right**), with reference to the corresponding sensor footprint (pale blue square) on the ground. The elevation angle $\alpha $ is determined by the horizontal distance ${d}_{hor}$ and the altitude above ground ${h}_{agl}$. The color-coding of the perception map corresponds to the predicted detection performance. Light colors represent high performance values, while darker colors correlate with lower values.

**Figure 8.**Depiction of the principle of path planning. The fan-shaped path array consists (for representational reasons) of 9 evenly spaced curves (thin black lines). The thick black line is the resulting UAV trajectory from trajectory optimization. The square represents the sensor footprint on the ground. The perception map, which results from atmospheric and topographic conditions is color-coded. Yellow areas mark regions with high detection performance. Adapted from [13].

**Figure 9.**Example of a Dubins path from the start configuration a to the goal configuration b defined by a specific set of motion primitives L, S and R (

**left**). The associated curvature profile of the Dubins path is plotted on the (

**right**).

**Figure 11.**Illustration of the states and the state transitions in an acyclic graph. Circles represent the states $0,\dots ,{n}_{k}$ in the individual time steps $0,\dots ,N$. The arrows represent the state transitions between two states. As an example, the state-dependent costs ${c}_{st,k}^{i}$ and the state transition costs ${c}_{tr,k}^{ij}$ are plotted from time step k to $k+1$.

**Figure 12.**Illustration of the benchmark trajectories Circle (

**left**), Racetrack (

**center**) and Figure-8 (

**right**). Additionally, the starting point ${p}_{start}$, the support point ${p}_{sup}$ and the path direction are sketched. The radius ${r}_{loiter}$ is predefined or results from the design.

**Figure 13.**Illustration of the route reconnaissance scenario. The green line marks the reconnaissance route, supplemented by several perception maps resulting from the CC-SPM performance model. The color-coding of the different perception maps corresponds to the predicted detection performance. Light colors represent high performance values, while darker colors correlate with lower values.

**Figure 15.**Illustration of the detection performances for the NMPC and benchmark trajectory with respect to the sensor footprint path length. The black line marks the theoretical maximum detection performance as an upper bound.

**Figure 16.**Trajectory optimization for the route reconnaissance scenario with sensor performance model CC-SPM in (

**a**,

**c**) and with Yolo-SPM in (

**b**,

**d**). The blue line indicates the NMPC-optimized reference trajectory and the light green line represents the benchmark trajectory. The starting points of both trajectories are identical and marked by a black aircraft symbol. In (

**a**,

**b**), the Racetrack benchmark pattern is displayed, whereas in (

**c**,

**d**), the Figure-8 pattern is applied.

**Figure 17.**Illustration of the control inputs “roll rate” and “acceleration” for route reconnaissance with CC-SPM, plotted with respect to the flight duration. The control inputs yield changes in the system states “velocity” and “roll angle”. Shown also are the predefined limitations.

**Figure 18.**Depiction of the DP&OC-optimized trajectories for the route reconnaissance scenario with sensor performance models CC-SPM (

**left**) and Yolo-SPM (

**right**). The blue line marks the UAV flight trajectory and the green line maps the sensor footprint on the ground.

**Figure 19.**Illustration of the area reconnaissance scenario. The green line marks the sensor footprint path within the green reconnaissance area. Several perception maps resulting from the CC-SPM model illustrate the detection performance along the footprint path. The red lines indicate the positions of the perception maps along the sensor path. The color-coding of the different perception maps corresponds to the predicted detection performance.

**Figure 21.**Trajectory optimization for the area reconnaissance scenario with sensor performance model CC-SPM in (

**a**,

**c**) and with Yolo-SPM in (

**b**,

**d**). The blue line indicates the NMPC-optimized reference trajectory and the light green line marks the benchmark trajectory. The starting points of both trajectories are identical and depicted by the aircraft symbol. In (

**a**,

**b**), the Figure-8 pattern is used, whereas in (

**c**,

**d**), the Circle benchmark pattern is applied.

**Figure 22.**Illustration of the DP&OC-optimized trajectories for the area reconnaissance scenario with sensor performance models CC-SPM (

**left**) and Yolo-SPM (

**right**). The blue line depicts the UAV flight trajectory and the green line marks the sensor footprint on the ground.

Parameter | Setting | Remark |
---|---|---|

target ground sample distance $gs{d}_{ref}$ | 0.07 m | predefined |

sensor resolution ${R}_{sens}$ | 1920 px | predefined |

sweep width ${w}_{fp}$ | 134.4 m | from Equation (1) |

footprint velocity ${v}_{fp}$ | 30 m/s | predefined |

time step interval $\Delta t$ | 0.5 s | predefined |

distance ${d}_{fp}$ | 15 m | from Equation (2) |

**Table 2.**Atmospheric states comprising the aerial imagery dataset of [36].

Environmental State | Attributes |
---|---|

season | summer, autumn |

daytime | day, night |

visibility | clear, foggy |

road condition | wet, dry |

sky cover | covered, sunny |

Parameter | Setting | Remark |
---|---|---|

UAV altitude above ground ${h}_{agl}$ | 500 m | predefined |

perception map diameter ${d}_{pm}$ | 2000 m | predefined |

Parameter | Setting | Remark |
---|---|---|

preview horizon time steps ${M}_{prev}$ | 25 | predefined |

time step interval $\Delta t$ | 0.5 s | from Table 1 |

uav setpoint velocity ${v}_{ref}$ | 35 m/s | predefined |

path length ${l}_{path}$ | 437.5 m | from Equation (13) |

number of paths Z | 15 | predefined |

Parameter | Setting | Remark |
---|---|---|

prediction horizon N | 10 | predefined |

maximum roll angle ${\varphi}_{max}$ | 0.7 rad | from Equation (18) |

setpoint roll angle ${\varphi}^{ref}$ | 0 rad | predefined |

maximum roll rate ${\omega}_{max}$ | 0.5 rad/s | from Equation (19) |

setpoint roll rate ${\omega}^{ref}$ | 0 rad/s | predefined |

minimum velocity ${v}_{min}$ | 33 m/s | from Equation (21) |

maximum velocity ${v}_{max}$ | 37 m/s | from Equation (21) |

setpoint velocity ${v}^{ref}$ | 35 m/s | predefined |

maximum acceleration ${a}_{max}$ | 0.1 $\mathrm{m}/{\mathrm{s}}^{2}$ | from Equation (20) |

setpoint acceleration ${a}^{ref}$ | 0 $\mathrm{m}/{\mathrm{s}}^{2}$ | predefined |

diagonal weighting matrix Q | 1, 1, 0.1, 0.1, 0.1 | predefined |

diagonal weighting matrix R | 0.5, 0.5 | predefined |

Parameter | Setting | Remark |
---|---|---|

weighting factor $\gamma $ | 0.8 | predefined |

Parameter | Setting | Remark |
---|---|---|

UAV velocity v | 35 m/s | predefined |

maximum roll angle ${\varphi}_{max}$ | 0.694 rad | predefined |

gravitational acceleration g | 9.81 $\mathrm{m}/{\mathrm{s}}^{2}$ | |

minimum turn radius ${r}_{min}$ | 150 m | from Equation (35) |

Parameter | Setting | Remark |
---|---|---|

UAV velocity v | 35 m/s | from Table 7 |

minimum turn radius ${r}_{min}$ | 150 m | from Table 7 |

time step interval $\Delta t$ | 0.5 s | from Table 1 |

minimum Dubins path length ${s}_{min}$ | 17.5 m | from Equation (44) |

maximum Dubins path length ${s}_{max}$ | 942.5 m | from Equation (45) |

weighting factor ${p}_{w}$ | 0.5 | predefined |

number of yaw angles ${m}_{\psi ,n}$ | 12 | predefined |

Parameter | Setting | Remark |
---|---|---|

time of day | 16 h | predefined |

month | June | predefined |

cloud cover | 25% | predefined |

fog density | 0% | predefined |

precipitation | 0% | predefined |

**Table 10.**Parameter settings of the atmospheric conditions for the Yolo-SPM sensor performance model.

Parameter | Setting | Remark |
---|---|---|

daytime | day | predefined |

season | autumn | predefined |

visibility | clear | predefined |

road condition | wet | predefined |

sky cover | covered | predefined |

CC-SPM | Yolo-SPM | |||
---|---|---|---|---|

NMPC | Benchm. | NMPC | Benchm. | |

maximum average detection performance | 0.972 | 0.972 | 0.936 | 0.936 |

average detection performance (abs.) | 0.815 | 0.772 | 0.924 | 0.878 |

average detection performance (rel.) | 83.88% | 79.42% | 98.66% | 93.77% |

CC-SPM | Yolo-SPM | |
---|---|---|

maximum average detection performance | 0.972 | 0.936 |

average detection performance (abs.) | 0.910 | 0.936 |

average detection performance (rel.) | 93.62% | 100.00% |

CC-SPM | Yolo-SPM | |||
---|---|---|---|---|

NMPC | Benchm. | NMPC | Benchm. | |

maximum average detection performance | 0.948 | 0.948 | 0.936 | 0.936 |

average detection performance (abs.) | 0.846 | 0.810 | 0.933 | 0.887 |

average detection performance (rel.) | 89.19% | 85.48% | 99.66% | 94.80% |

CC-SPM | Yolo-SPM | |
---|---|---|

maximum average detection performance | 0.948 | 0.936 |

average detection performance (abs.) | 0.909 | 0.936 |

average detection performance (rel.) | 95.89% | 100.00% |

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## Share and Cite

**MDPI and ACS Style**

Zwick, M.; Gerdts, M.; Stütz, P.
Sensor-Model-Based Trajectory Optimization for UAVs to Enhance Detection Performance: An Optimal Control Approach and Experimental Results. *Sensors* **2023**, *23*, 664.
https://doi.org/10.3390/s23020664

**AMA Style**

Zwick M, Gerdts M, Stütz P.
Sensor-Model-Based Trajectory Optimization for UAVs to Enhance Detection Performance: An Optimal Control Approach and Experimental Results. *Sensors*. 2023; 23(2):664.
https://doi.org/10.3390/s23020664

**Chicago/Turabian Style**

Zwick, Markus, Matthias Gerdts, and Peter Stütz.
2023. "Sensor-Model-Based Trajectory Optimization for UAVs to Enhance Detection Performance: An Optimal Control Approach and Experimental Results" *Sensors* 23, no. 2: 664.
https://doi.org/10.3390/s23020664