Abstract
This paper focuses on navigating a team of unmanned aerial vehicles (UAVs) equipped with cameras to monitor groups of ground pedestrians or vehicles that move along given paths with unkown, time-varying but bounded speeds. The objective is to deliver a high-quality surveillance of the pedestrians or vehicles. We formulate a surveillance problem which requires the UAVs to monitor the pedestrians or vehicles from as short as possible distances. We propose a navigation algorithm that enables each UAV to determine its movement locally with a minor participation of a central station. We prove that this algorithm is locally optimal. Simulations confirm its performance.
Original language | English |
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Article number | 9374712 |
Pages (from-to) | 3891-3896 |
Number of pages | 6 |
Journal | IEEE Transactions on Vehicular Technology |
Volume | 70 |
Issue number | 4 |
DOIs | |
Publication status | Published - Apr 2021 |
Externally published | Yes |
Keywords
- Aerial surveillance
- Internet of flying robots
- UAVs
- coverage
- drones
- mobile ground targets
- navigation
ASJC Scopus subject areas
- Automotive Engineering
- Aerospace Engineering
- Electrical and Electronic Engineering
- Applied Mathematics