Self-Navigating UAVs for Supervising Moving Objects over Large-Scale Wireless Sensor Networks

Algorithm 1

Monitoring a moving object: from searching to tracking.

/* initialization */;

= false;

= false;

=0;

/* searching */;

while () do

  = = ;

 execute local regression to determine ;

 determine gradient at according to Equation (6);

 if (a peakis located) then

  ;

  break;

 end

 calculate according to Equation (16);

 locate from Equation ;

 estimate the deviated angle according to Equation (18);

 calculate according to Equation (17);

 navigate the UAV according to angle ;

end

calculate coordinates of peak ;

navigate the UAV in a straight line to ;

capture ground image;

ifobject_found in imagethen

 ;

 switch to tracking mode;

else

 switch to discovery mode;

end