Abstract
This paper proposes an algorithm that will allow an autonomous aerial drone to approach and follow a steady or moving herd of cattle using only range measurements. The algorithm is also insensitive to the complexity of the herd’s movement and the measurement noise. Once arrived at the herd of cattle, the aerial drone can follow it to a desired destination. The primary motivation for the development of this algorithm is to use simple, inexpensive and robust sensing hence range sensors. The algorithm does not depend on the accuracy of the range measurements, rather the rate of change of range measurements. The proposed method is based on sliding mode control which provides robustness. A mathematical analysis, simulations and experimental results with a real aerial drone are presented to demonstrate the effectiveness of the proposed method.
Highlights
Animal husbandry has been a social practice ever since the Neolithic Revolution
Automated feeding systems [1,2,3], smart farming techniques [4,5,6], robots used in farming [7,8,9], and intelligent farming technologies [10,11,12] can be highlighted as examples out of the vast range available in the literature
We tested the performance of the Unmanned Aerial Vehicle (UAV) with a noisy range signal and made the UAV to navigate towards the target
Summary
Animal husbandry has been a social practice ever since the Neolithic Revolution. the techniques and technologies used in animal farming have evolved with time. The study carried out by [25] presents a method for bird herding using an aerial drone, known as an Unmanned Aerial Vehicle (UAV), based on a waypoint algorithm. The use of smarter, simpler, and practically implementable tracking methods-based control strategies are not widely available in the literature. The proposed method uses simple range sensing, and the rate of change of range measurements is used to fly the drone towards the herd. We formulate the problem of drone navigation for following a groundbased herd, with an aerial receiving range-only measurements. The paper presents a control algorithm for a UAV to follow and intercept the location of a ground herd.
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