A Distributed Strategy for Target Tracking and Rendezvous Using UAVs Relying on Visual Information Only

Electronics

Luigi Palopoli¹  Matteo Pacher¹  Marco Andreetto¹  David Macii²  Daniele Fontanelli² 

[1] Department of Engineering and Computer Science, University of Trento, 38100 Trento, Italy;Department of Industrial Engineering, University of Trento, 38100 Trento, Italy;

关键词: distributed estimation;    distributed tracking;    distributed control;    unmanned aerial vehicles;   

DOI  :  10.3390/electronics7100211

来源: DOAJ

【 摘 要 】

This paper proposes a distributed target tracking solution using a team of Unmanned Aerial Vehicles (UAVs) equipped with low-cost visual sensors capable of measuring targets bearing information only. The team of UAVs moves along circular orbits and uses consensus–based distributed Kalman Filtering to identify the position of the target. We show that the centre of the orbit eventually converges to the target position using theoretical arguments and extensive simulation data. By using the same approach, we can solve the rendezvous problem: the team first scans an area in search of a target; as soon as one of the UAVs spots, the other components converge on the target position.

【 授权许可】

Unknown