Coordinated standoff tracking using path shaping for multiple UAVs
Hd Oh
Dario Turchi
Seungkeun Kim
Antonios Tsourdos
Lorenzo Pollini
Brian A. White
2134/16085
https://repository.lboro.ac.uk/articles/journal_contribution/Coordinated_standoff_tracking_using_path_shaping_for_multiple_UAVs/9227948
A coordinated standoff target tracking strategy using path
shaping for multiple unmanned aerial vehicles (UAVs) is presented.
In performing a tracking mission of a ground target of interest, UAVs
are to approach a target and to keep a standoff distance from it with
a prescribed inter-vehicle angular separation around the target in
order to track it while acquiring accurate target information. Since
fixed-wing UAVs without hovering capability fly efficiently at a
nominal airspeed, it is desirable that they can keep angular
separation between vehicles while holding a constant velocity in a
mission duration point of view. The work presented here introduces a
new path shaping technique using two constant curvature segments
satisfying the turn radius constraint and having more flexibility and
fewer discontinuous points on a curvature command compared with
the Dubins path at the expense of the path length. Moreover, a
simultaneous arrival concept is introduced as a coordinated tracking
strategy for multiple UAVs, which initialises UAVs on a standoff orbit.
2014-10-15 14:15:57
untagged
Aerospace Engineering
Engineering not elsewhere classified