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 cluttered environments required to have robust autonomous navigation with both tracking obstacle avoidance capabilities. To this end, work presents a simple-to-design but effective steerable sensor platform its implementation techniques tracking. The proposed is 2-axis gimbal system capable of roll pitch/yaw. mathematical model that governs the dynamics developed. performance validated through software-in-the-loop simulation. simulation results show can be effectively steered all regions interest except backward. With design layout mount location, engage sensors per requirements. Moreover, steering any direction does not induce aerodynamic instability on vehicle mission.