Design and Implementation of Sensor Platform for UAV-Based Target Tracking and Obstacle Avoidance
Small-scale unmanned aerial vehicles are being deployed in urban areas for missions such as ground target tracking, crime scene monitoring, and traffic management. Aerial vehicles deployed in such cluttered environments are required to have robust autonomous navigation with both target tracking and...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-03-01
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| Series: | Drones |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2504-446X/6/4/89 |
| _version_ | 1827620986923515904 |
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| author | Abera Tullu Mostafa Hassanalian Ho-Yon Hwang |
| author_facet | Abera Tullu Mostafa Hassanalian Ho-Yon Hwang |
| author_sort | Abera Tullu |
| collection | DOAJ |
| description | Small-scale unmanned aerial vehicles are being deployed in urban areas for missions such as ground target tracking, crime scene monitoring, and traffic management. Aerial vehicles deployed in such cluttered environments are required to have robust autonomous navigation with both target tracking and obstacle avoidance capabilities. To this end, this work presents a simple-to-design but effective steerable sensor platform and its implementation techniques for both obstacle avoidance and target tracking. The proposed platform is a 2-axis gimbal system capable of roll and pitch/yaw. The mathematical model that governs the dynamics of this platform is developed. The performance of the platform is validated through a software-in-the-loop simulation. The simulation results show that the platform can be effectively steered to all regions of interest except backward. With its design layout and mount location, the platform can engage sensors for obstacle avoidance and target tracking as per requirements. Moreover, steering the platform in any direction does not induce aerodynamic instability on the unmanned aerial vehicle in mission. |
| first_indexed | 2024-03-09T10:56:33Z |
| format | Article |
| id | doaj.art-b589c21316e543cabea31b675cc45769 |
| institution | Directory Open Access Journal |
| issn | 2504-446X |
| language | English |
| last_indexed | 2024-03-09T10:56:33Z |
| publishDate | 2022-03-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj.art-b589c21316e543cabea31b675cc457692023-12-01T01:38:39ZengMDPI AGDrones2504-446X2022-03-01648910.3390/drones6040089Design and Implementation of Sensor Platform for UAV-Based Target Tracking and Obstacle AvoidanceAbera Tullu0Mostafa Hassanalian1Ho-Yon Hwang2Department of Aerospace Engineering, Sejong University, 209, Neungdong-ro, Gwangjin-gu, Seoul 05006, KoreaDepartment of Mechanical Engineering, New Mexico Institute of Mining and Technology, Socorro, NM 87801, USADepartment of Aerospace Engineering, and Convergence Engineering for Intelligence Drone, Sejong University, Seoul 05006, KoreaSmall-scale unmanned aerial vehicles are being deployed in urban areas for missions such as ground target tracking, crime scene monitoring, and traffic management. Aerial vehicles deployed in such cluttered environments are required to have robust autonomous navigation with both target tracking and obstacle avoidance capabilities. To this end, this work presents a simple-to-design but effective steerable sensor platform and its implementation techniques for both obstacle avoidance and target tracking. The proposed platform is a 2-axis gimbal system capable of roll and pitch/yaw. The mathematical model that governs the dynamics of this platform is developed. The performance of the platform is validated through a software-in-the-loop simulation. The simulation results show that the platform can be effectively steered to all regions of interest except backward. With its design layout and mount location, the platform can engage sensors for obstacle avoidance and target tracking as per requirements. Moreover, steering the platform in any direction does not induce aerodynamic instability on the unmanned aerial vehicle in mission.https://www.mdpi.com/2504-446X/6/4/89autonomous navigationgimbal designobstacle avoidancetarget trackingunmanned aerial vehicleslaw enforcement |
| spellingShingle | Abera Tullu Mostafa Hassanalian Ho-Yon Hwang Design and Implementation of Sensor Platform for UAV-Based Target Tracking and Obstacle Avoidance Drones autonomous navigation gimbal design obstacle avoidance target tracking unmanned aerial vehicles law enforcement |
| title | Design and Implementation of Sensor Platform for UAV-Based Target Tracking and Obstacle Avoidance |
| title_full | Design and Implementation of Sensor Platform for UAV-Based Target Tracking and Obstacle Avoidance |
| title_fullStr | Design and Implementation of Sensor Platform for UAV-Based Target Tracking and Obstacle Avoidance |
| title_full_unstemmed | Design and Implementation of Sensor Platform for UAV-Based Target Tracking and Obstacle Avoidance |
| title_short | Design and Implementation of Sensor Platform for UAV-Based Target Tracking and Obstacle Avoidance |
| title_sort | design and implementation of sensor platform for uav based target tracking and obstacle avoidance |
| topic | autonomous navigation gimbal design obstacle avoidance target tracking unmanned aerial vehicles law enforcement |
| url | https://www.mdpi.com/2504-446X/6/4/89 |
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