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Title: Moving target tracking by UAVs inanurban 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: 14-Apr-2014
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.
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
ISSN: 14801752
DOI: 10.2316/Journal.201.2014.2.201-2572
Appears in Collections:Staff Publications

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