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Title: Coordinated standoff tracking using path shaping for multiple UAVs
Authors: Oh, Hyondong
Turchi, Dario
Kim, Seungkeun
Tsourdos, Antonios
Pollini, Lorenzo
White, Brian A.
Issue Date: 2014
Publisher: © IEEE
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.
Abstract: A 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.
Description: © 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.2013.110712
Version: Accepted for publication
DOI: 10.1109/TAES.2013.110712
URI: https://dspace.lboro.ac.uk/2134/16085
Publisher Link: http://dx.doi.org/10.1109/TAES.2013.110712
ISSN: 0018-9251
Appears in Collections:Published Articles (Aeronautical and Automotive Engineering)

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