Evaluation and Selection of Proper Aerial Coverage Scenario Using Spatio-Temporal Virtual Plane in Border Patrolling Application

Search pattern and coverage scenario are two important concepts, in using UAVs in border patrolling problem. It is necessary to define a quality evaluation method to compare different pattern under different implicational conditions to reach optimal coverage by a group of UAVs. The evaluation method calculates probability of seen intruders and shows the quality of coverage in any part of the border. This paper introduces a new tool which is called spatiotemporal virtual plane to evaluate coverage scenario and select proper pattern by considering criteria such as flight time, coverage percentage, and coverage uniformity. Along with UAVs and intruder's relative motions, their motion histories and probability of identification of intruders would be analyzed by spatiotemporal virtual plane. The results show that, this analysis method has powerful ability to evaluate scenarios based on qualitative and quantitative parameters.