2026

Procedia Computer Science

Rocznik: 2026 | Tom: 292

artykuł naukowy / referat

angielski

EN Humanitarian demining is a complex and hazardous process that requires safe and efficient methods for surveying contaminated areas. The study presents a UAV swarm approach for humanitarian demining based on leader-follower organization and quasi- differential GNSS positioning. In the proposed concept, the central UAV defines the swarm motion, while the remaining UAVs maintain a fixed geometric configuration and perform the mission at the same altitude. This approach supports coordinated swarm motion and relative positioning without the deployment of fixed ground reference stations. In addition, the study proposes a GNSS- based detection method using a shielded receiver configuration. In this approach, direct GNSS reception is limited by a passive metal screen, while signals reflected from a metallic object beneath the receiving antenna may introduce deviations in latitude and longitude values in the recorded NMEA data. A ground-level experiment was conducted to verify the proposed detection method. Under the applied test conditions, passage above the surrogate target produced coordinate deviations in the recorded NMEA data, which were used as the primary detection indicator. During target passage, the recorded NMEA data showed a mean coordinate displacement of approximately 2.43 m and a mean peak displacement of about 4.30 m across the analyzed runs.

7211 - 7220

10.1016/j.procs.2026.10.292

https://www.sciencedirect.com/science/article/pii/S1877050926039530

30th International Conference on Knowledge-Based and Intelligent Information & Engineering Systems (KES 2026), 9-11.09.2026, DUBLIN, Irlandia

CC BY-NC-ND (uznanie autorstwa - użycie niekomercyjne - bez utworów zależnych)

inne

ostateczna wersja opublikowana

11.2026

w momencie opublikowania

5

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