Journal
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
Volume 19, Issue 2, Pages 735-746Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TASE.2021.3062810
Keywords
Unmanned aerial vehicles; Trajectory; Trajectory planning; Target tracking; Video surveillance; Tracking; Visualization; Covert video surveillance; dynamic programming (DP); trajectory planning; unmanned aerial vehicles (UAVs)
Categories
Funding
- Australian Research Council
- Australian Government [AUSMURIB000001]
- ONR MURI Grant [N00014-19-1-2571]
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This article introduces a new technique for covert video surveillance of a mobile target using a UAV, which maximizes disguising performance through multiobjective trajectory planning and solves the problem online using forward dynamic programming. The effectiveness of the proposed technique is demonstrated through extensive computer simulations.
This article considers the use of an unmanned aerial vehicle (UAV) for covert video surveillance of a mobile target on the ground and presents a new online UAV trajectory planning technique with a balanced consideration of the energy efficiency, covertness, and aeronautic maneuverability of the UAV. Specifically, a new metric is designed to quantify the covertness of the UAV, based on which a multiobjective UAV trajectory planning problem is formulated to maximize the disguising performance and minimize the trajectory length of the UAV. A forward dynamic programming method is put forth to solve the problem online and plan the trajectory for the foreseeable future. In addition, the kinematic model of the UAV is considered in the planning process so that it can be tracked without any later adjustment. Extensive computer simulations are conducted to demonstrate the effectiveness of the proposed technique.
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