计算机应用与软件2024，Vol.41Issue(7)：74-81,99,9.DOI:10.3969/j.issn.1000-386x.2024.07.012
切换式多无人机协同目标追踪策略
SWITCHED TARGET TRACKING STRATEGY BASED ON MULTI-UAV COOPERATIVE CONTROL
摘要
Abstract
Aimed at the shortcomings of existing tracking strategies in maintaining network topology connectivity and target capture efficiency,a switch target tracking strategy(STS)based on multi-UAV cooperative control is proposed.Considering the fact that only part of the UAV nodes in the dynamic network composed of multi-UAV could detect target,the optimal target estimation was obtained through Kalman consistency filtering.Different motion equations were set up according to the distance between the UAV and the target.Theoretical analysis was conducted by Lyapunov method.Simulation experiments show that the proposed tracking strategy has a success rate of 98％when the target motion trajectory is single,and when the target has the trajectory to escape,the success rate is 95％.The network connectivity and collision-avoiding of the multi-UAV system are always keeping in the process of tracking.关键词
协同目标追踪/动态网络/卡尔曼一致性滤波/切换式策略/Lyapunov方法Key words
Cooperative target tracking/Dynamic network/Kalman consistency filtering/Switching strategy/Lyapunov method分类
信息技术与安全科学引用本文复制引用
吴杰宏,杨京辉,毕静..切换式多无人机协同目标追踪策略[J].计算机应用与软件,2024,41(7):74-81,99,9.基金项目
中国航空科学基金项目(2018ZC54013) （2018ZC54013）
辽宁省教育厅创新人才基金项目(2018059). （2018059）
