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|Title:||Moving target tracking by UAVs inanurban area|
|Keywords:||Line of sight (LOS) occlusion|
Model predictive control (MPC)
Unmanned aerial vehicles (UAVs)
|Citation:||He, Z., Xu, J.-X. (2014-04-14). Moving target tracking by UAVs inanurban area. Control and Intelligent Systems 42 (2) : 144-150. ScholarBank@NUS Repository. https://doi.org/10.2316/Journal.201.2014.2.201-2572|
|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.|
|Source Title:||Control and Intelligent Systems|
|Appears in Collections:||Staff Publications|
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