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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Auteurs principaux:	Manaram Gnanasekera, Jay Katupitiya, Andrey V. Savkin, A.H.T. Eranga De Silva
Format:	article
Langue:	EN
Publié:	MDPI AG 2021
Sujets:	aerial drones unmanned aerial vehicles UAVs autonomous navigation herding animal farming Chemical technology TP1-1185
Accès en ligne:	https://doaj.org/article/72d51e5e33c5495ead12f8ab9ecd03f7
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id	oai:doaj.org-article:72d51e5e33c5495ead12f8ab9ecd03f7
record_format	dspace
spelling	oai:doaj.org-article:72d51e5e33c5495ead12f8ab9ecd03f72021-11-11T19:11:50ZA Range-Based Algorithm for Autonomous Navigation of an Aerial Drone to Approach and Follow a Herd of Cattle10.3390/s212172181424-8220https://doaj.org/article/72d51e5e33c5495ead12f8ab9ecd03f72021-10-01T00:00:00Zhttps://www.mdpi.com/1424-8220/21/21/7218https://doaj.org/toc/1424-8220This 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.Manaram GnanasekeraJay KatupitiyaAndrey V. SavkinA.H.T. Eranga De SilvaMDPI AGarticleaerial dronesunmanned aerial vehiclesUAVsautonomous navigationherdinganimal farmingChemical technologyTP1-1185ENSensors, Vol 21, Iss 7218, p 7218 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	aerial drones unmanned aerial vehicles UAVs autonomous navigation herding animal farming Chemical technology TP1-1185
spellingShingle	aerial drones unmanned aerial vehicles UAVs autonomous navigation herding animal farming Chemical technology TP1-1185 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
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.
format	article
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
title	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_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_sort	range-based algorithm for autonomous navigation of an aerial drone to approach and follow a herd of cattle
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/72d51e5e33c5495ead12f8ab9ecd03f7
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_version_	1718431590591234048

A Range-Based Algorithm for Autonomous Navigation of an Aerial Drone to Approach and Follow a Herd of Cattle

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