| Title |
Region-based Approach for Safe Target Tracking of Multirotor UAVs based on GPS |
| DOI |
https://doi.org/10.5573/ieie.2026.63.4.125 |
| Keywords |
Multirotor; Mobile robot; Sigmoid; Tracking; Monitoring |
| Abstract |
This study proposes a region-based monitoring system capable of tracking targets with smooth flight trajectories while maintaining a safe distance based on GPS. The proposed system controls the UAV by categorizing the operational space into attractive, repulsive, and stationary regions based on the relative distance to the target. Specifically, to prevent rapid velocity changes and overshoots that may occur during transitions between regions, a Sigmoid function was applied to design the velocity profile and ensure smooth boundary handling. To verify the performance of the proposed method, outdoor experiments were conducted using a custom-built multirotor and a mobile robot. Experimental results confirmed that the multirotor effectively maintained the designated safe distance without collision risks through seamless velocity control during region transitions, even under irregular target movements. The proposed algorithm enables stable close-range tracking using only low-cost GPS sensors; therefore, it is expected to have broad applications in the unmanned vehicle industry, such as urban drone delivery and autonomous surveillance systems, where collision avoidance and precise tracking are essential. |