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https://doi.org/10.2316/Journal.201.2014.2.201-2572
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. 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 | URI: | http://scholarbank.nus.edu.sg/handle/10635/82724 | ISSN: | 14801752 | DOI: | 10.2316/Journal.201.2014.2.201-2572 |
Appears in Collections: | Staff Publications |
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