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...
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| Published in | Sensors (Basel, Switzerland) Vol. 21; no. 21; p. 7218 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Basel
MDPI AG
29.10.2021
MDPI |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1424-8220 1424-8220 |
| DOI | 10.3390/s21217218 |
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| Abstract | 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. |
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| AbstractList | 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.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. 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. |
| Author | Savkin, Andrey V. Katupitiya, Jay Gnanasekera, Manaram De Silva, A.H.T. Eranga |
| AuthorAffiliation | School of Mechanical and Manufacturing Engineering, The University of New South Wales, Sydney, NSW 2052, Australia; m.gnanasekera@unsw.edu.au (M.G.); j.katupitiya@unsw.edu.au (J.K.); eranga.desilva@unsw.edu.au (A.H.T.E.D.S.) |
| AuthorAffiliation_xml | – name: School of Mechanical and Manufacturing Engineering, The University of New South Wales, Sydney, NSW 2052, Australia; m.gnanasekera@unsw.edu.au (M.G.); j.katupitiya@unsw.edu.au (J.K.); eranga.desilva@unsw.edu.au (A.H.T.E.D.S.) |
| Author_xml | – sequence: 1 givenname: Manaram surname: Gnanasekera fullname: Gnanasekera, Manaram – sequence: 2 givenname: Jay surname: Katupitiya fullname: Katupitiya, Jay – sequence: 3 givenname: Andrey V. orcidid: 0000-0001-9390-6634 surname: Savkin fullname: Savkin, Andrey V. – sequence: 4 givenname: A.H.T. Eranga surname: De Silva fullname: De Silva, A.H.T. Eranga |
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| SubjectTerms | aerial drones animal farming Animals autonomous navigation Cattle Computer simulation Control algorithms Drones Farming herding Methods Sensors UAVs Unmanned aerial vehicles |
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| Title | A Range-Based Algorithm for Autonomous Navigation of an Aerial Drone to Approach and Follow a Herd of Cattle |
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