UAV mobile ground target pursuit algorithm

Xiaowei Fu, Huicheng Feng, Xiaoguang Gao

科研成果: 期刊稿件文章同行评审

21 引用 (Scopus)

摘要

In this paper, we propose a comprehensive ground target pursuit algorithm for fixedwing unmanned aerial vehicles (UAVs). Based on the division of two kinds of possible path patterns, the method generates waypoints step by step and steers the UAV to the latest waypoint. When it is time for waypoint correction, the tracking error will be recorded, and this error will be transferred to the next waypoint for synchronization purposes. An alarm mechanism is applied in case the target moves out of range of the UAV sensor. The noise in the measurement of the target parameters is considered and is processed by a least square estimator. Simulations with three different scenarios are performed, and the results demonstrate that the algorithm is stable, reliable, and computationally efficient.

源语言英语
页(从-至)359-371
页数13
期刊Journal of Intelligent and Robotic Systems: Theory and Applications
68
3-4
DOI
出版状态已出版 - 12月 2012

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