机器人2025，Vol.47Issue(3)：348-360,13.DOI:10.13973/j.cnki.robot.240352
基于子母式多无人机协同的多目标追踪
Multi-target Tracking Based on the Collaboration of Mother-daughter Multi-UAV
摘要
Abstract
In multi-target tracking by multiple UAVs(unmanned aerial vehicles),the obstacle positions are random,and multiple targets scatter and maybe move out of sensor perception range.To solve the problems,a multi-target joint coverage and tracking method based on mother-daughter multi-UAV system is proposed.Firstly,the minimum bounding circle gen-erated by Welzl's algorithm is used to guide the mother UAV to plan a tracking trajectory for covering more targets.Then,the daughter UAVs are scheduled to approach the targets for one-on-one tracking,based on the positions of multiple targets predicted by the mother UAV.Finally,the mother and daughter UAVs continuously and stably observe multiple targets in the area through online collaborative tracking.Simulation results show that the proposed method can effectively enhance the observation capability of multiple UAVs for multiple targets,and the mother-daughter UAV multi-target tracking experiments in outdoor scene verify the effectiveness of this method deployed on actual multi-UAV platforms.关键词
无人机目标追踪/最小圆覆盖/多无人机/任务分配/协同轨迹规划Key words
UAV(unmanned aerial vehicle)target tracking/minimum circle covering/multi-UAV/task allocation/collab-orative trajectory planning引用本文复制引用
王翰章,张雪涛,刘一莎,张雪波,庄严..基于子母式多无人机协同的多目标追踪[J].机器人,2025,47(3):348-360,13.基金项目
国家自然科学基金(U22B2041,62473075). （U22B2041,62473075）
