Persistent surveillance is a major role envisioned for autonomous unmanned vehicles. The mission of persistent surveillance requires the vehicles to continuously survey a target region. This paper investigates the techniques of persistent surveillance control for a swarm of micro aerial vehicles. We present a flocking algorithm to drive the micro aerial vehicles flying in a coordinate formation with a capability of obstacle avoidance. We propose a new digital pheromone mechanism to control and coordinate the swarms of micro aerial vehicles to search a field of interest and to reduce the uncertainty of every region in the field over time. Simulation results show the effectiveness of our proposed algorithm in generating collision-free persistent surveillance trajectories for a swarm of micro aerial vehicles in a coordinated manner.


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    Title :

    Persistent surveillance for a swarm of micro aerial vehicles by flocking algorithm


    Contributors:
    Li, Wei (author)


    Publication date :

    2015-01-01


    Size :

    10 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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