A Trajectory Planning Method for Dynamic Target Tracking Based on Differential Evolution
Chenzhihang Li, Hongbin Deng, Junqi Wu, Zhenhua Pan · 2024
This paper investigates online trajectory planning technology for unmanned aerial vehicles (UAVs) in complex environments, focusing on dynamic target tracking tasks commonly encountered in peacekeeping and counter-terrorism fields. The proposed method addresses the challenges posed by obstacles and high dynamics of targets in mountainous or urban settings, which may lead to sensor failures and target loss. Utilizing differential evolution, the method optimizes for UAV stability, safety, and line-of-sight, crafting a finite-jump trajectory. Simulations in 3D mountainous scenarios confirm the UAV's ability to track, evade obstacles, and maintain sight, meeting jerk constraints for stable and safe flight.