TY - JOUR
T1 - UAV mobile ground target pursuit algorithm
AU - Fu, Xiaowei
AU - Feng, Huicheng
AU - Gao, Xiaoguang
PY - 2012/12
Y1 - 2012/12
N2 - 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.
AB - 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.
KW - Alarm mechanism
KW - Ground target tracking
KW - Path patterns
KW - UAV
UR - http://www.scopus.com/inward/record.url?scp=84869406615&partnerID=8YFLogxK
U2 - 10.1007/s10846-012-9690-9
DO - 10.1007/s10846-012-9690-9
M3 - 文章
AN - SCOPUS:84869406615
SN - 0921-0296
VL - 68
SP - 359
EP - 371
JO - Journal of Intelligent and Robotic Systems: Theory and Applications
JF - Journal of Intelligent and Robotic Systems: Theory and Applications
IS - 3-4
ER -