In this chapter, we focus on covert video surveillance using unmanned aerial vehicles (UAVs), which is a relatively new research area. Different from the normal surveillance discussed in the previous chapters, covert surveillance requires that the intention of the UAVs is not discovered by the targets of interest. We present two approaches. The first approach is optimization‐based. We present a new metric to characterize the disguising performance, which evaluates the change of the relative distance and angle between the UAV and the target. Then, we formulate an optimization problem, which jointly maximizes the disguising performance and minimizes the energy efficiency of the UAV, subject to the motion constraint of the UAV and the requirement of keeping the target within view. We present a dynamic programming method to plan the UAV's trajectory in an online manner. The second one is a motion camouflage‐based approach. To achieve motion camouflage, the UAV keeps on a straight line segment connecting the target and a fixed reference point. A sliding mode control strategy is developed, which only takes the bearing information as input. We present extensive computer simulations demonstrate the performance of these approaches.
Autonomous UAV Navigation for Covert Video Surveillance
2022-09-14
35 pages
Article/Chapter (Book)
Electronic Resource
English
Autonomous video surveillance [2962-20]
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