0
views
0
recommends
+1 Recommend
0 collections
    0
    shares
      • Record: found
      • Abstract: found
      • Article: found
      Is Open Access

      Multi-UAV Area Coverage Based on Relative Localization: Algorithms and Optimal UAV Placement

      research-article

      Read this article at

      Bookmark
          There is no author summary for this article yet. Authors can add summaries to their articles on ScienceOpen to make them more accessible to a non-specialist audience.

          Abstract

          This paper is concerned with relative localization-based optimal area coverage placement using multiple unmanned aerial vehicles (UAVs). It is assumed that only one of the UAVs has its global position information before performing the area coverage task and that ranging measurements can be obtained among the UAVs by using ultra-wide band (UWB) sensors. In this case, multi-UAV relative localization and cooperative coverage control have to be run simultaneously, which is a quite challenging task. In this paper, we propose a single-landmark-based relative localization algorithm, combined with a distributed coverage control law. At the same time, the optimal multi-UAV placement problem was formulated as a quadratic programming problem by compromising between optimal relative localization and optimal coverage control and was solved by using Sequential Quadratic Programming (SQP) algorithms. Simulation results show that our proposed method can guarantee that a team of UAVs can efficiently localize themselves in a cooperative manner and, at the same time, complete the area coverage task.

          Related collections

          Most cited references29

          • Record: found
          • Abstract: not found
          • Article: not found

          Collaborative mapping of an earthquake-damaged building via ground and aerial robots

            Bookmark
            • Record: found
            • Abstract: not found
            • Article: not found

            A Practical Multirobot Localization System

              Bookmark
              • Record: found
              • Abstract: not found
              • Article: not found

              Coverage Control for Mobile Sensing Networks

                Bookmark

                Author and article information

                Contributors
                Role: Academic Editor
                Role: Academic Editor
                Journal
                Sensors (Basel)
                Sensors (Basel)
                sensors
                Sensors (Basel, Switzerland)
                MDPI
                1424-8220
                31 March 2021
                April 2021
                : 21
                : 7
                : 2400
                Affiliations
                [1 ]The Guangdong Province Key Laboratory of Intelligent Decision and Cooperative Control, School of Automation, Guangdong University of Technology, Guangzhou 510006, China; zhang_ziyong@ 123456163.com (Z.Z.); xiaolingandyou@ 123456163.com (X.X.)
                [2 ]Peng Cheng Laboratory, Shenzhen 518055, China; cuijq@ 123456pcl.ac.cn
                Author notes
                [* ]Correspondence: meng0025@ 123456gdut.edu.cn
                Author information
                https://orcid.org/0000-0002-7833-1876
                https://orcid.org/0000-0002-8513-5013
                Article
                sensors-21-02400
                10.3390/s21072400
                8037616
                33807129
                9242989e-0d99-4f0b-8830-c7a32c6d0f7c
                © 2021 by the authors.

                Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license ( http://creativecommons.org/licenses/by/4.0/).

                History
                : 03 February 2021
                : 17 March 2021
                Categories
                Article

                Biomedical engineering
                coverage control,ultra-wide band (uwb) sensors,relative localization,unmanned aerial vehicles (uavs)

                Comments

                Comment on this article