Cooperative tracking of ground moving target using unmanned aerial vehicles in cluttered environment
Lincheng Shen · Control theory & applications · 2011
We investigate the cooperative tracking of a ground moving target in a cluttered environment by using un-manned aerial vehicles(UAV).Firstly,a model the cooperative target tracking by UAV is developed based on active sensing;secondly,a distributed unscented information filter is built for the estimation fusion and the prediction of target states.Fi-nally,an online trajectory planning algorithm based on the receding horizon control and the genetic algorithm is designed and implemented,with the predicted target states as the inputs to this planning algorithm.Numerical simulations demon-strate that the proposed method effectively improves the performance of target tracking.