UAV Path Planning for Passive Multi-Target Following in Complex Environment

被引：0
作者：
Liang Yueqian [1 ,2 ]
Wu Jingnan [1 ,2 ]
Jia Yingmin [1 ,2 ]
Du Junping [3 ]
机构：
[1] Beihang Univ BUAA, Res Div 7, Beijing 100191, Peoples R China
[2] Beihang Univ BUAA, Dept Syst & Control, Beijing 100191, Peoples R China
[3] Beijing Univ Posts & Telecommun, Beijing Key Lab Intelligent Telecommun Software &, Sch Comp Sci & Technol, Beijing 100876, Peoples R China
来源：
2013 32ND CHINESE CONTROL CONFERENCE (CCC) | 2013年
关键词：
Target Following; Path Planning; Complex Environment; Receding Horizon Control Problem; K-Coverage Problem; COORDINATED STANDOFF TRACKING; SEARCH; INFORMATION; TARGETS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper the problem of following multiple noncooperative and high agile surface targets using multiple fixed-wing unmanned aerial vehicles (UAVs) in complex environment is studied and a real-time rule-based target following algorithm is proposed. The complex environment consists of hard threats, soft threats and sensor missed detections. The multi-dimensional assignment algorithm is applied to address the data association problem, and the target trajectory approximation algorithm is then developed to determine the motion trajectories of the targets. And a simulation example is given to verify the efficiency of the proposed algorithm.
引用
收藏
页码：7863 / 7868
页数：6
相关论文
共 21 条
[1]  
Bertsekas D. P., 1991, LINEAR NETWORK OPTIM
[2]   UAV search for dynamic targets with uncertain motion models [J].
Bertuccelli, L. F. ;
How, J. P. .
PROCEEDINGS OF THE 45TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-14, 2006, :5941-5946
[3]   Search for dynamic targets with uncertain probability maps [J].
Bertuccelli, Luca F. ;
How, Jonathan P. .
2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12, 2006, 1-12 :737-+
[4]   Optimality analysis of sensor-target localization geometries [J].
Bishop, Adrian N. ;
Fidan, Baris ;
Anderson, Brian D. O. ;
Dogancay, Kutluyil ;
Pathirana, Pubudu N. .
AUTOMATICA, 2010, 46 (03) :479-492
[5]  
Ceccarelli Nicola, 2007, 2007 American Control Conference, P5310, DOI 10.1109/ACC.2007.4282479
[6]   A generalized S-D assignment algorithm for multisensor-multitarget state estimation [J].
Deb, S ;
Yeddanapudi, M ;
Pattipati, K ;
BarShalom, Y .
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 1997, 33 (02) :523-538
[7]   Multi-UAV Convoy Protection: An Optimal Approach to Path Planning and Coordination [J].
Ding, Xu Chu ;
Rahmani, Amir R. ;
Egerstedt, Magnus .
IEEE TRANSACTIONS ON ROBOTICS, 2010, 26 (02) :256-268
[8]   UAV Path Planning for Passive Emitter Localization [J].
Dogancay, Kutluyil .
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, 2012, 48 (02) :1150-1166
[9]   Coordinated standoff tracking of moving targets using Lyapunov guidance vector fields [J].
Frew, Eric W. ;
Lawrence, Dale A. ;
Morris, Steve .
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 2008, 31 (02) :290-306
[10]   Optimal sensor placement and motion coordination for target tracking [J].
Martínez, S ;
Bullo, F .
AUTOMATICA, 2006, 42 (04) :661-668
123