A Method for Covert Video Surveillance of a Car or a Pedestrian by an Autonomous Aerial Drone via Trajectory Planning

Publication Type:
Conference Proceeding
2020 6th International Conference on Control, Automation and Robotics (ICCAR), 2020, 00, pp. 446-449
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This paper considers the application of covert video surveillance of a ground mobile target by an autonomous aerial drone. We design a metric to measure the covertness of the drone. Then, we formulate a multi-objective drone trajectory planning problem, which maximizes the drone disguising performance and minimizes its energy consumption. We furthermore propose a forward dynamic programming method to solve the problem online and conduct simulations to verify its effectiveness.
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