Range-Based Reactive Deployment of a Flying Robot for Target Coverage

Flying robots, also known as drones and unmanned aerial vehicles (UAVs), have found numerous applications in civilian domains thanks to their excellent mobility reduced cost. In this paper, we focus on a scenario of flying robot monitoring set targets, which are assumed be moving group, the sparse distribution targets is not applicable. particular, problem finding optimal position for such that all can monitored by on-board ground facing camera considered. The studied formulated conventional smallest circle if targets’ locations given. Because it may difficult obtain practice, Global Navigation Satellite Systems (GNSS) dined environments, range-based navigation algorithm based sliding mode control method proposed. This navigates toward farthest target dynamically, using estimated robot–target distances from received signal strength, until maximum distance cannot further reduced. It light computation easily implementable, both features help improve energy efficiency because no heavy required special sensing device needs installed robot. presented solution does directly solve problem. Instead, our proposed dynamically center group extracted information only. Simulations Matlab Gazebo been conducted stationery mobile verify effectiveness approach.