StandoffTrackingSplinegon_FINAL_Double_Column.pdf (6.82 MB)
Coordinated standoff tracking using path shaping for multiple UAVs
journal contribution
posted on 2014-10-15, 14:15 authored by Hd Oh, Dario Turchi, Seungkeun Kim, Antonios Tsourdos, Lorenzo Pollini, Brian A. WhiteA coordinated standoff target tracking strategy using path
shaping for multiple unmanned aerial vehicles (UAVs) is presented.
In performing a tracking mission of a ground target of interest, UAVs
are to approach a target and to keep a standoff distance from it with
a prescribed inter-vehicle angular separation around the target in
order to track it while acquiring accurate target information. Since
fixed-wing UAVs without hovering capability fly efficiently at a
nominal airspeed, it is desirable that they can keep angular
separation between vehicles while holding a constant velocity in a
mission duration point of view. The work presented here introduces a
new path shaping technique using two constant curvature segments
satisfying the turn radius constraint and having more flexibility and
fewer discontinuous points on a curvature command compared with
the Dubins path at the expense of the path length. Moreover, a
simultaneous arrival concept is introduced as a coordinated tracking
strategy for multiple UAVs, which initialises UAVs on a standoff orbit.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Published in
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMSVolume
50Issue
1Pages
348 - 363 (16)Citation
OH, H. ... et al, 2014. Coordinated standoff tracking using path shaping for multiple UAVs. IEEE Transactions on Aerospace and Electronic Systems, 50 (1), pp. 348 - 363.Publisher
© IEEEVersion
- AM (Accepted Manuscript)
Publisher statement
This work is made available according to the conditions of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) licence. Full details of this licence are available at: https://creativecommons.org/licenses/by-nc-nd/4.0/Publication date
2014Notes
© 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. The definitive version is available at: http://dx.doi.org/10.1109/TAES.2013.110712ISSN
0018-9251Publisher version
Language
- en