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Title: Moving target tracking by UAVs in an urban area
Authors: He, Z.
Xu, J.-X. 
Keywords: Line of sight (LOS) occlusion
Model predictive control (MPC)
Path planning
Unmanned aerial vehicles (UAVs)
Issue Date: 2013
Source: He, Z.,Xu, J.-X. (2013). Moving target tracking by UAVs in an urban area. IEEE International Conference on Control and Automation, ICCA : 1933-1938. ScholarBank@NUS Repository.
Abstract: In this paper we investigate the problem of autonomously tracking a ground moving target in an urban area by unmanned aerial vehicles (UAVs). In this scenario, the target is tracked by two UAVs with on-board sensors under the constraints of urban area occlusions. Information regarding the line of sight occlusions in the urban area is available from a database. To ensure successfully trajectory planning, the UAVs' dynamic constrains must be taken into account. Model predictive control(MPC) method is introduced for a cooperative motion planning in real time. To test the MPC algorithm, simulations using a visual database of the CBD in Singapore are conducted and the performance is showed in three different scenarios. © 2013 IEEE.
Source Title: IEEE International Conference on Control and Automation, ICCA
ISBN: 9781467347075
ISSN: 19483449
DOI: 10.1109/ICCA.2013.6564973
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