ID
SC2
Description
A UAV actively tracks a victim
Invoked by
| River and Ice Rescue | Item Delivery | AccidentSurveillance | StructuralFire | EnvironmentalSampling |
|---|---|---|---|---|
| x |
Rationale
During search and rescue, once a victim is detected, the UAV must hover over the victim and track if the victim is moving.
Primary Actor
- Semi-Autonomous UAV
Supporting Actors
- Mission Commander
Stakeholders and Interests
Pre-Conditions
- UAV is within near vision-range of the victim
- UAV has actively tagged the victim
Post Conditions
Success end condition:
The UAV remains within near vision-range of the victim and streams video imagery to Emergency Responders
Failure end condition:
UAV fails to actively track the victim
Trigger
The UAV is assigned or assumed the task of tracking a person
- The UAV positions itself in tracking_position i.e., in the near vicinity of the victim but not directly overhead.
- The UAV uses image capture and analysis to continually tag the victim in the image stream.
- Based on the UAV's position (pitch, roll, yaw) onboard tracker continually calculates the relative position of the victim with respect to the UAV.
- The onboard tracker generates appropriate velocity vectors to fly towards the victim, without flying directly over the victim and maintaining
victim_separation_distanceand always flying at an altitude greater thanminimum_altitude. - The velocity vector is sent to the UAV's autopilot and executed to enable the UAV to track the victim.
- Steps 2-5 are repeated until the UAV receives a
[stop_tracking]command.
-
All general exceptions apply.
-
In step 2, if the UAV loses track of the victim, it attempts to re-tag the victim by changing altitude and performing a localized search.
-
At any time if the onboard vision fails, the UAV raises an alert.
-
If the UAV's battery level goes below a safe level, the UAV raises an alert and requests a replacement UAV to assume the tracking task.