A Range-Based Algorithm for Autonomous Navigation of an Aerial Drone to Approach and Follow a Herd of Cattle
This paper proposes an algorithm that will allow an autonomous aerial drone to approach and follow a steady or moving herd of cattle using only range measurements. The algorithm is also insensitive to the complexity of the herd’s movement and the measurement noise. Once arrived at the herd of cattle...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-10-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/21/21/7218 |
| _version_ | 1827677809215012864 |
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| author | Manaram Gnanasekera Jay Katupitiya Andrey V. Savkin A.H.T. Eranga De Silva |
| author_facet | Manaram Gnanasekera Jay Katupitiya Andrey V. Savkin A.H.T. Eranga De Silva |
| author_sort | Manaram Gnanasekera |
| collection | DOAJ |
| description | This paper proposes an algorithm that will allow an autonomous aerial drone to approach and follow a steady or moving herd of cattle using only range measurements. The algorithm is also insensitive to the complexity of the herd’s movement and the measurement noise. Once arrived at the herd of cattle, the aerial drone can follow it to a desired destination. The primary motivation for the development of this algorithm is to use simple, inexpensive and robust sensing hence range sensors. The algorithm does not depend on the accuracy of the range measurements, rather the rate of change of range measurements. The proposed method is based on sliding mode control which provides robustness. A mathematical analysis, simulations and experimental results with a real aerial drone are presented to demonstrate the effectiveness of the proposed method. |
| first_indexed | 2024-03-10T05:52:00Z |
| format | Article |
| id | doaj.art-72d51e5e33c5495ead12f8ab9ecd03f7 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T05:52:00Z |
| publishDate | 2021-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-72d51e5e33c5495ead12f8ab9ecd03f72023-11-22T21:38:21ZengMDPI AGSensors1424-82202021-10-012121721810.3390/s21217218A Range-Based Algorithm for Autonomous Navigation of an Aerial Drone to Approach and Follow a Herd of CattleManaram Gnanasekera0Jay Katupitiya1Andrey V. Savkin2A.H.T. Eranga De Silva3School of Mechanical and Manufacturing Engineering, The University of New South Wales, Sydney, NSW 2052, AustraliaSchool of Mechanical and Manufacturing Engineering, The University of New South Wales, Sydney, NSW 2052, AustraliaSchool of Mechanical and Manufacturing Engineering, The University of New South Wales, Sydney, NSW 2052, AustraliaSchool of Mechanical and Manufacturing Engineering, The University of New South Wales, Sydney, NSW 2052, AustraliaThis paper proposes an algorithm that will allow an autonomous aerial drone to approach and follow a steady or moving herd of cattle using only range measurements. The algorithm is also insensitive to the complexity of the herd’s movement and the measurement noise. Once arrived at the herd of cattle, the aerial drone can follow it to a desired destination. The primary motivation for the development of this algorithm is to use simple, inexpensive and robust sensing hence range sensors. The algorithm does not depend on the accuracy of the range measurements, rather the rate of change of range measurements. The proposed method is based on sliding mode control which provides robustness. A mathematical analysis, simulations and experimental results with a real aerial drone are presented to demonstrate the effectiveness of the proposed method.https://www.mdpi.com/1424-8220/21/21/7218aerial dronesunmanned aerial vehiclesUAVsautonomous navigationherdinganimal farming |
| spellingShingle | Manaram Gnanasekera Jay Katupitiya Andrey V. Savkin A.H.T. Eranga De Silva A Range-Based Algorithm for Autonomous Navigation of an Aerial Drone to Approach and Follow a Herd of Cattle Sensors aerial drones unmanned aerial vehicles UAVs autonomous navigation herding animal farming |
| title | A Range-Based Algorithm for Autonomous Navigation of an Aerial Drone to Approach and Follow a Herd of Cattle |
| title_full | A Range-Based Algorithm for Autonomous Navigation of an Aerial Drone to Approach and Follow a Herd of Cattle |
| title_fullStr | A Range-Based Algorithm for Autonomous Navigation of an Aerial Drone to Approach and Follow a Herd of Cattle |
| title_full_unstemmed | A Range-Based Algorithm for Autonomous Navigation of an Aerial Drone to Approach and Follow a Herd of Cattle |
| title_short | A Range-Based Algorithm for Autonomous Navigation of an Aerial Drone to Approach and Follow a Herd of Cattle |
| title_sort | range based algorithm for autonomous navigation of an aerial drone to approach and follow a herd of cattle |
| topic | aerial drones unmanned aerial vehicles UAVs autonomous navigation herding animal farming |
| url | https://www.mdpi.com/1424-8220/21/21/7218 |
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