Loughborough University
ST_CPF.pdf (1.52 MB)

Coordinated standoff tracking of in- and out-of-surveillance targets using constrained particle filter for UAVs

Download (1.52 MB)
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 Chen
This 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.



  • Aeronautical, Automotive, Chemical and Materials Engineering


  • Aeronautical and Automotive Engineering

Published in

IEEE Intelligent Vehicles Symposium


OH, H. ... et al, 2015. Coordinated standoff tracking of in- and out-of-surveillance targets using constrained particle filter for UAVs. IN: Proceedings of the IEEE Intelligent Vehicles Symposium, 28th June - 1st July 2015, Seoul, South Korea, pp.499-504.




  • AM (Accepted Manuscript)

Publication date



© 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.




  • en


Seoul, South Korea

Usage metrics

    Loughborough Publications