CoordinatedStandoffTracking.pdf (2.54 MB)
Coordinated standoff tracking of moving target groups using multiple UAVs
journal contribution
posted on 2015-02-04, 09:12 authored by Hd Oh, Seungkeun Kim, Hyo-Sang Shin, Antonios TsourdosThis paper presents a coordinated standoff tracking methodology of moving target groups using
multiple UAVs. The vector field guidance approach for a single UAV is first applied to track a group
of targets by defining a variable standoff orbit to be followed, which can keep all targets within the
field-of view of the UAV. A new feedforward term is included in the guidance command considering
variable standoff distance, and the convergence of the vector field to the standoff orbit is analysed and
enhanced by adjusting radial velocity using two active measures associated with vector field generation.
Moreover, for multiple group tracking by multiple UAVs, a two-phase approach is proposed as a suboptimal
solution for an NP-hard problem, consisting of target clustering/assignment and cooperative
standoff group tracking with online local replanning. Lastly, localisation sensitivity to the group of targets
is investigated for different angular separations between UAVs and sensing configurations. Numerical
simulations are performed using randomly moving ground vehicles with multiple UAVs to verify the
feasibility and benefit of the proposed approach.
Funding
This study was supported by 1) the UK Engineering and Physical Science Research Council (EPSRC) under Grant EP/J011525/1 and 2) a grant to Bio-Mimetic Robot Research Center funded by Defense Acquisition Program Administration (UD130070ID).
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Published in
IEEE Transactions on Aerospace and Electronic SystemsVolume
0Issue
0Pages
0 - 0Citation
OH, H. ... et al, 2015. Coordinated standoff tracking of moving target groups using multiple UAVs. IEEE Transactions on Aerospace and Electronic Systems, 51(2), pp.1501-1514.Publisher
© IEEEVersion
- VoR (Version of Record)
Publisher statement
This work is made available according to the conditions of the Creative Commons Attribution 4.0 International (CC BY 4.0) licence. Full details of this licence are available at: https://creativecommons.org/licenses/by/4.0/Publication date
2015Notes
This paper was published as Open Access by IEEE.ISSN
0018-9251Publisher version
Language
- en