One of the primary concerns related to Unmanned Aerial Vehicles (UAV), especially multirotors, is the limited endurance to perform patrolling missions in large scale applications. The use of recharging stations spread throughout the area of interest is an alternative to prolong the total mission execution time. In such scenario, the UAV performs a coverage task and must return to one of the stations from time to time to recharge or replace the battery. In this paper, we propose a patrolling strategy for multiple UAVs with recharging stations in an unknown environment. The aerial vehicles should patrol the area using the NC-Drone algorithm while searching for a target. They build a matrix-based internal map to register visited places and the positions of the recharging stations. The UAVs are also able to exchange information among each other when they are within a communication range. During the patrolling, the aerial vehicles constantly monitor the energy spent and the remaining energy available in their batteries, according to a previously proposed energy model. We evaluate the proposed approach in three scenarios with different types of targets. The patrolling strategy was able to successfully perform the mission, detecting the targets and safely returning to the recharging stations multiple times. We were able to prolong the mission execution time, avoiding battery exhaustion and unexpected crashes.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Patrolling Strategy for Multiple UAVs with Recharging Stations in Unknown Environments




    Erscheinungsdatum :

    01.10.2019


    Format / Umfang :

    337654 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Patrolling a terrain with cooperrative UAVs using Random Walks

    Caraballo, Luis E. / Diaz-Banez, Jose M. / Fabila-Monroy, Ruy et al. | IEEE | 2019


    Risk-aware Resource Allocation for Multiple UAVs-UGVs Recharging Rendezvous

    Asghar, Ahmad Bilal / Shi, Guangyao / Karapetyan, Nare et al. | ArXiv | 2022

    Freier Zugriff

    Inductive or Magnetic Recharging for Small UAVs

    Jung, S. / Lee, T. / Mina, T. et al. | British Library Conference Proceedings | 2012


    Inductive or Magnetic Recharging for Small UAVs

    Ariyur, Kartik B. / Jung, Sunghun / Lee, Taesup et al. | SAE Technical Papers | 2012


    PROCESS FOR RECHARGING ELECTRIC VEHICLES IN GEOGRAPHICALLY DISTRIBUTED RECHARGING STATIONS

    NAGY OLIVER / GUENER REFI-TUGRUL / TOPLAK ERWIN | Europäisches Patentamt | 2017

    Freier Zugriff