Mobile targets localization in a field area using moving Gaussian peaks and probability map

Consider an open square field with mobile targets such as unmanned ground vehicles (UGVs) or sea vehicles. These targets have some defined paths like moving along diagonal or the edge of the arena. Locating these targets using multiple unmanned aerial vehicles (UAVs) with limited sensing and communication capabilities can be a tough problem, especially when the number of UAVs is limited or basically less than what we need in the swarm technique and genetic algorithms. This paper proposes a method to tackle this target search problem with the help of formulation of target movement using probability density and moving Gaussian peaks. The expected result of the simulation is the polarized probability map of the target presence at a given point so that the UAVs can generate revisiting path plans.