| 复杂环境下多无人机协作式地面移动目标跟踪 |
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| 引用本文： | 王林,彭辉,朱华勇,沈林成.复杂环境下多无人机协作式地面移动目标跟踪[J].控制理论与应用,2011,28(3):300-308. |
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| 作者姓名： | 王林 彭辉 朱华勇 沈林成 |
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| 作者单位： | 1. 国防科技大学,机电工程与自动化学院,湖南,长沙,410073
2. 国防科技大学,机电工程与自动化学院,湖南,长沙,410073;解放军理工大学,指挥自动化学院,江苏,南京,210007 |
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| 基金项目： | 国家重大基础研究项目资助项目(6138101001); 工信部国防基础科研项目资助项目(A2820080247). |
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| 摘 要： | 针对多无人机(UAV)协同地面移动目标跟踪问题展开研究.提出一种基于主动感知的问题求解框架,建立多UAV协同目标跟踪问题模型;在此基础上,采用分布式无色信息滤波实现目标状态融合估计与预测;然后,基于预测目标状态,结合滚动时域控制与遗传算法设计一种多UAV在线协同航迹规划算法.仿真结果表明:结合预测目标状态在线优化UAV...
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| 关 键 词： | 无人机 地面移动目标 协作式目标跟踪 分布式估计 在线航迹规划 |
| 收稿时间： | 2009/12/2 0:00:00 |
| 修稿时间： | 2010/5/11 0:00:00 |
Cooperative tracking of ground moving target using unmanned aerial vehicles in cluttered environment |
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| WANG Lin,PENG Hui,ZHU Hua-yong and SHEN Lin-cheng.Cooperative tracking of ground moving target using unmanned aerial vehicles in cluttered environment[J].Control Theory & Applications,2011,28(3):300-308. |
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| Authors: | WANG Lin PENG Hui ZHU Hua-yong and SHEN Lin-cheng |
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| Affiliation: | College of Mechatronic Engineering and Automation, National University of Defense Technology,College of Mechatronic Engineering and Automation, National University of Defense Technology; Institue of Command and Automation, PLA University of Science and Technology,College of Mechatronic Engineering and Automation, National University of Defense Technology,College of Mechatronic Engineering and Automation, National University of Defense Technology |
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| Abstract: | We investigate the cooperative tracking of a ground moving target in a cluttered environment by using unmanned aerial vehicles(UAV). Firstly, a model the cooperative target tracking by UAV is developed based on active sensing; secondly, a distributed unscented information filter is built for the estimation fusion and the prediction of target states. Finally, an online trajectory planning algorithm based on the receding horizon control and the genetic algorithm is designed and implemented, with the predicted target states as the inputs to this planning algorithm. Numerical simulations demonstrate that the proposed method effectively improves the performance of target tracking. |
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| Keywords: | unmanned aerial vehicle(UAV) ground moving target cooperative target tracking distributed estimating on-line trajectory planning |
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