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

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/ijae/volume-2020/2027340/figures/2027340.fig.0010a.svgz" name="2027340.fig.0010a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Average tracking deviation</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/ijae/volume-2020/2027340/figures/2027340.fig.0010b.svgz" name="2027340.fig.0010b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Maximum tracking deviation</td></tr></table>

<div>Tracking deviation error—the distance between the orthogonal projection of the UAV onto the ground and the object center during the tracking phase. The PSO team did not find out the object at a speed of 10 m/s.</div>

International Journal of Aerospace Engineering

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Figure 10

Figure 10: Self-Navigating UAVs for Supervising Moving Objects over Large-Scale Wireless Sensor Networks 