Experimental validation of UAV search and detection system in real wilderness environment

Search and rescue (SAR) missions require reliable search methods to locate survivors, especially in challenging or inaccessible environments. This is why introducing unmanned aerial vehicles (UAVs) can be of great help to enhance the efficiency of SAR missions while simultaneously increasing the safety of everyone involved in the mission. Motivated by this, we design and experiment with autonomous UAV search for humans in a Mediterranean karst environment. The UAVs are directed using Heat equation-driven area coverage (HEDAC) ergodic control method according to known probability density and detection function. The implemented sensing framework consists of a probabilistic search model, motion control system, and computer vision object detection. It enables calculation of the probability of the target being detected in the SAR mission, and this paper focuses on experimental validation of proposed probabilistic framework and UAV control. The uniform probability density to ensure the even probability of finding the targets in the desired search area is achieved by assigning suitably thought-out tasks to 78 volunteers. The detection model is based on YOLO and trained with a previously collected ortho-photo image database. The experimental search is carefully planned and conducted, while as many parameters as possible are recorded. The thorough analysis consists of the motion control system, object detection, and the search validation. The assessment of the detection and search performance provides strong indication that the designed detection model in the UAV control algorithm is aligned with real-world results.