控制理论与应用2011，Vol.28Issue(3)：300-308,9.
复杂环境下多无人机协作式地面移动目标跟踪
Cooperative tracking of ground moving target using unmanned aerial vehicles in cluttered environment
摘要
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.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Key words
unmanned aerial vehicle(UAV)/ ground moving target/ cooperative target tracking/ distributed estimating/on-line trajectory planning分类
信息技术与安全科学引用本文复制引用
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):300-308,9.基金项目
国家重大基础研究项目资助项目(6138101001) （6138101001）
工信部国防基础科研项目资助项目(A2820080247). （A2820080247）
