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

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 w...

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Detalles Bibliográficos
Autores principales: Huang, Hailong, Savkin, Andrey V., Li, Xiaohui
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7374335/
https://www.ncbi.nlm.nih.gov/pubmed/32635163
http://dx.doi.org/10.3390/s20133720
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author Huang, Hailong
Savkin, Andrey V.
Li, Xiaohui
author_facet Huang, Hailong
Savkin, Andrey V.
Li, Xiaohui
author_sort Huang, Hailong
collection PubMed
description 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.
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spelling pubmed-73743352020-08-06 Reactive Autonomous Navigation of UAVs for Dynamic Sensing Coverage of Mobile Ground Targets Huang, Hailong Savkin, Andrey V. Li, Xiaohui Sensors (Basel) Article 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. MDPI 2020-07-03 /pmc/articles/PMC7374335/ /pubmed/32635163 http://dx.doi.org/10.3390/s20133720 Text en © 2020 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Huang, Hailong
Savkin, Andrey V.
Li, Xiaohui
Reactive Autonomous Navigation of UAVs for Dynamic Sensing Coverage of Mobile Ground Targets
title Reactive Autonomous Navigation of UAVs for Dynamic Sensing Coverage of Mobile Ground Targets
title_full Reactive Autonomous Navigation of UAVs for Dynamic Sensing Coverage of Mobile Ground Targets
title_fullStr Reactive Autonomous Navigation of UAVs for Dynamic Sensing Coverage of Mobile Ground Targets
title_full_unstemmed Reactive Autonomous Navigation of UAVs for Dynamic Sensing Coverage of Mobile Ground Targets
title_short Reactive Autonomous Navigation of UAVs for Dynamic Sensing Coverage of Mobile Ground Targets
title_sort reactive autonomous navigation of uavs for dynamic sensing coverage of mobile ground targets
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7374335/
https://www.ncbi.nlm.nih.gov/pubmed/32635163
http://dx.doi.org/10.3390/s20133720
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