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

作　　者：王林[1] 彭辉[1,2] 朱华勇[1] 沈林成[1] 

机构地区：[1]国防科技大学机电工程与自动化学院,湖南长沙410073 [2]解放军理工大学指挥自动化学院,江苏南京210007

出　　处：《控制理论与应用》2011年第3期300-308,共9页Control Theory & Applications

基　　金：国家重大基础研究项目资助项目(6138101001);工信部国防基础科研项目资助项目(A2820080247)

摘　　要：针对多无人机(UAV)协同地面移动目标跟踪问题展开研究.提出一种基于主动感知的问题求解框架,建立多UAV协同目标跟踪问题模型;在此基础上,采用分布式无色信息滤波实现目标状态融合估计与预测;然后,基于预测目标状态,结合滚动时域控制与遗传算法设计一种多UAV在线协同航迹规划算法.仿真结果表明:结合预测目标状态在线优化UAV航迹能够获得更好的目标跟踪性能.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 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]