文章基本信息

标题：A new UAV ship-tracking algorithm
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作者：Pablo Garcia-Aunon ; Matilde Santos Peñas ; Jesus Manuel de la Cruz García 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：13090-13095
DOI：10.1016/j.ifacol.2017.08.2010
语种：English
出版社：Elsevier
摘要：AbstractFor several applications involving Unmanned Aerial Vehicles (UAVs), a moving target must the tracked and followed autonomously. Several algorithms have been already proposed, mainly based on three different strategies, assuming in most of the cases the target trajectory known in advanced. We here propose a new algorithm and compared it with a well known and widely used control tracking algorithm in a ship-tracking scenario. Our proposal is derived from the qualitative analysis of the system response when a UAV low level controller is implemented. Besides, these algorithms depend on various parameters, which normally are tuned based on the experience. We also present a methodological way of tuning the parameters of these types of control algorithms based on the kinematic analysis of the movement, the control effort and the error while tracking the target. This method has been proved efficient and general, and it may be used for similar problems and control algorithms.
关键词：KeywordsTracking algorithmUAVkinematic analysisqualitative analysiscontroltuning