Tsinghua Science and Technology

2022, v.27(06) 948-963

[打印本页] [关闭]
本期目录(Current Issue) | 过刊浏览(Past Issue) | 高级检索(Advanced Search)

Observation-Driven Multiple UAV Coordinated Standoff Target Tracking Based on Model Predictive Control
Observation-Driven Multiple UAV Coordinated Standoff Target Tracking Based on Model Predictive Control

Shun Sun;Yu Liu;Shaojun Guo;Gang Li;Xiaohu Yuan;

摘要(Abstract):

An observation-driven method for coordinated standoff target tracking based on Model Predictive Control(MPC) is proposed to improve observation of multiple Unmanned Aerial Vehicles(UAVs) while approaching or loitering over a target.After acquiring a fusion estimate of the target state,each UAV locally measures the observation capability of the entire UAV system with the Fisher Information Matrix(FIM) determinant in the decentralized architecture.To facilitate observation optimization,only the FIM determinant is adopted to derive the performance function and control constraints for coordinated standoff tracking.Additionally,a modified iterative scheme is introduced to improve the iterative efficiency,and a consistent circular direction control is established to maintain long-term observation performance when the UAV approaches its target.Sufficient experiments with simulated and real trajectories validate that the proposed method can improve observation of the UAV system for target tracking and adaptively optimize UAV trajectories according to sensor performance and UAV-target geometry.

关键词(KeyWords):

Abstract:

Keywords:

基金项目(Foundation): supported in part by the National Natural Science Foundation of China (Nos.62022092 and 61790550)

作者(Authors): Shun Sun;Yu Liu;Shaojun Guo;Gang Li;Xiaohu Yuan;

参考文献(References):

扩展功能
本文信息
服务与反馈
本文关键词相关文章
本文作者相关文章
中国知网
分享