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Download fileCoordinated standoff tracking of in- and out-of-surveillance targets using constrained particle filter for UAVs
conference contribution
posted on 2015-08-10, 13:18 authored by Hd Oh, Cunjia LiuCunjia Liu, Seungkeun Kim, Hyo-Sang Shin, Wen-Hua ChenWen-Hua ChenThis paper presents a new standoff tracking
framework of a moving ground target using UAVs with a limited
sensing capability such as sensor field-of-view and motion
constraints. To maintain persistent track of the target even in
case of target loss (out of surveillance) for a certain period, this
study predicts the target existence area using the particle filter,
and produces control commands to ensure that all predicted
particles can be covered by the field-of-view of the UAV sensor
at all times. To improve target prediction/estimation accuracy,
the road information is incorporated into the constrained
particle filter where the road boundaries are modelled as
nonlinear inequality constraints. Both Lyapunov vector field
guidance and nonlinear model predictive control methods are
applied for the standoff tracking and phase angle control, and
the advantages and disadvantages of them are compared using
numerical simulation results.
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School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering