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Energy-Efficient Autonomous Navigation of Solar-Powered UAVs for Surveillance of Mobile Ground Targets in Urban Environments

Author

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  • Hailong Huang

    (School of Electrical Engineering and Telecommunications, University of New South Wales, Sydney 2052, NSW, Australia)

  • Andrey V. Savkin

    (School of Electrical Engineering and Telecommunications, University of New South Wales, Sydney 2052, NSW, Australia)

Abstract

In this paper, we consider the navigation of a group of solar-powered unmanned aerial vehicles (UAVs) for periodical monitoring of a set of mobile ground targets in urban environments. We consider the scenario where the number of targets is larger than that of the UAVs, and the targets spread in the environment, so that the UAVs need to carry out a periodical surveillance. The existence of tall buildings in urban environments brings new challenges to the periodical surveillance mission. They may not only block the Line-of-Sight (LoS) between a UAV and a target, but also create some shadow region, so that the surveillance may become invalid, and the UAV may not be able to harvest energy from the sun. The periodical surveillance problem is formulated as an optimization problem to minimize the target revisit time while accounting for the impact of the urban environment. A nearest neighbour based navigation method is proposed to guide the movements of the UAVs. Moreover, we adopt a partitioning scheme to group targets for the purpose of narrowing UAVs’ moving space, which further reduces the target revisit time. The effectiveness of the proposed method is verified via computer simulations.

Suggested Citation

  • Hailong Huang & Andrey V. Savkin, 2020. "Energy-Efficient Autonomous Navigation of Solar-Powered UAVs for Surveillance of Mobile Ground Targets in Urban Environments," Energies, MDPI, vol. 13(21), pages 1-17, October.
    • Handle: RePEc:gam:jeners:v:13:y:2020:i:21:p:5563-:d:433959
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    References listed on IDEAS

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    1. Hailong Huang & Andrey V. Savkin & Wei Ni, 2020. "Energy-Efficient 3D Navigation of a Solar-Powered UAV for Secure Communication in the Presence of Eavesdroppers and No-Fly Zones," Energies, MDPI, vol. 13(6), pages 1-12, March.
    2. Ju Wang & Guoqiang Wang & Xiaoxuan Hu & He Luo & Haiqing Xu, 2020. "Cooperative Transmission Tower Inspection with a Vehicle and a UAV in Urban Areas," Energies, MDPI, vol. 13(2), pages 1-17, January.
    3. Jean-François Cordeau & Gianpaolo Ghiani & Emanuela Guerriero, 2014. "Analysis and Branch-and-Cut Algorithm for the Time-Dependent Travelling Salesman Problem," Transportation Science, INFORMS, vol. 48(1), pages 46-58, February.
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    Cited by:

    1. Hailong Huang & Andrey V. Savkin, 2021. "Path Planning for a Solar-Powered UAV Inspecting Mountain Sites for Safety and Rescue," Energies, MDPI, vol. 14(7), pages 1-19, April.
    2. Xiaohui Li & Andrey V. Savkin, 2021. "Networked Unmanned Aerial Vehicles for Surveillance and Monitoring: A Survey," Future Internet, MDPI, vol. 13(7), pages 1-21, July.

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