Active Sensing Based Cooperative Target Tracking using UAVs in an Urban Area

摘要：

To the problem of cooperative ground moving target tracking using UAVs in an urban area, a novel method is presented, which based on target state fusion estimation and prediction, as well as on-line trajectory planning. Firstly, based on active sensing, a solving framework was presented, the formal representation and system model of cooperative target tracking using a team UAVs was established; secondly, a filter, named unscented information filter, was suggested for fusion estimation and prediction of the target state; thirdly, with a predicted target state, an on-line trajectory planning algorithm was presented, which based on receding horizon control and genetic algorithm. Simulation results demonstrate that the performance of target tracking was improved with regard to the predicted target state.

关键词： UAV ground moving target cooperative tracking active sensing fusion estimation on-line trajectory planning

作者: Lin Wang Fei Su Huayong Zhu Lincheng Shen

作者单位: College of Mechatronic Engineering and Automation National University of Defense Technology Changsha 410073, China

会议类型: 国际会议

会议名称: The 2nd IEEE International Conference on Advanced Computer Control(第二届先进计算机控制国际会议 ICACC 2010)

会议地点: 沈阳

会议语种:英文

页码: 486-491

在线出版日期: 2010-03-27（万方平台首次上网日期，不代表论文的发表时间）