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Reactive Autonomous Navigation of UAVs for Dynamic Sensing Coverage of Mobile Ground Targets

Huang, Hailong ; Savkin, Andrey V. ; Li, Xiaohui

Sensors (Basel, Switzerland), 2020-07, Vol.20 (13), p.3720 [Periódico revisado por pares]

Basel: MDPI AG

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Título:
Reactive Autonomous Navigation of UAVs for Dynamic Sensing Coverage of Mobile Ground Targets
Autor: Huang, Hailong ; Savkin, Andrey V. ; Li, Xiaohui
Assuntos: Algorithms ; Autonomous navigation ; Computer simulation ; Control algorithms ; Control theory ; Motion control ; Moving targets ; navigation ; networks of drones ; Optimization algorithms ; Planning ; reactive deployment ; sensing coverage ; Sensors ; Simulation ; Sliding mode control ; Surveillance ; surveillance and monitoring ; Unmanned aerial vehicles ; Video communication
É parte de: Sensors (Basel, Switzerland), 2020-07, Vol.20 (13), p.3720
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SourceType-Scholarly Journals-1
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Descrição: This paper addresses a problem of autonomous navigation of unmanned aerial vehicles (UAVs) for the surveillance of multiple moving ground targets. The ground can be flat or uneven. A reactive real-time sliding mode control algorithm is proposed that navigates a team of communicating UAVs, equipped with ground-facing video cameras, towards moving targets to increase some measure of sensing coverage of the targets by the UAVs. Moreover, the Voronoi partitioning technique is adopted to reduce the movement range of the UAVs and decrease the revisit times of the targets. Extensive computer simulations, from the simple case with one UAV and multiple targets to the complex case with multiple UAVs and multiple targets, are conducted to demonstrate the performance of the developed autonomous navigation algorithm. The scenarios where the terrain is uneven are also considered. As shown in the simulation results, although the additional VP technique leads to some extra computation burden, the usage of the VP technique considerably reduces the target revisit time compared to the algorithm without this technique.
Editor: Basel: MDPI AG
Idioma: Inglês

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Reactive Autonomous Navigation of UAVs for Dynamic Sensing Coverage of Mobile Ground Targets

Huang, Hailong ; Savkin, Andrey V. ; Li, Xiaohui

Basel: MDPI AG

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