A Centralized Control Algorithm for Target Tracking with UAVs
P. Zhan, David W. Casbeer, Arnold Lee Swindlehurst · 2006
Abstract—Due to their wide range of practical applications, Unmanned Air Vehicles (UAVs) have recently attracted consid-erable attention in the research community. In this paper, we focus on their use in a simple target tracking application, and take advantage of their maneuverability to improve tracking performance. A centralized control point is used to command the headings of the UAVs in order to minimize a target localization criterion based on the Kalman filter. A practical model for the system’s architecture is presented, along with simulation results that show the algorithm significantly improves estimation of the target’s parameters compared with the uncontrolled system. I.