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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...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
MDPI
2020
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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. |
format | Online Article Text |
id | pubmed-7374335 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | MDPI |
record_format | MEDLINE/PubMed |
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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