A Non-Search Optimal Control Solution for a Team of MUAVS in a Reconnaissance Mission
David W. Casbeer, Pengcheng Zhan, Arnold Lee Swindlehurst · 2006
We consider a team of miniature unmanned air vehicles (MUAVs) in a multi-static radar scenario. Time delay and Doppler measurements made at the UAVs are transmitted to a base station which is tracking a target. The base then transmits heading commands to the MUAVs to reduce the tracking error. Optimal solutions that attempt to minimize a function of the error covariance or maximize the observability of the system are computationally difficult to implement. We present a simpler approximate method that yields a closed-form solution and performs comparably to the optimal approaches.