文章基本信息

标题：Cooperative guidance of a fleet of UAVs for multi-target discovery and tracking in presence of obstacles using a set membership approach *
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作者：Léon Reboul ; Michel Kieffer ; Hélène Piet-Lahanier 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：12
页码：340-345
DOI：10.1016/j.ifacol.2019.11.266
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents a set-membership approach for the coordinated control of a fleet of UAVs aiming to search and track ana prioriunknown number of targets spread over some area of interest. The originality of the approach lies in the description of the perturbations and measurement uncertainties via bounded sets. Sets guaranteed to contain the actual state of already detected targets are provided using the set-membership approach. A specific criterion evaluating the uncertainty of the detected and still to be detected target has been defined, which is used to determine the trajectories of the UAVs so as to decrease the global estimation uncertainty. The criterion accounts for potential occlusions in the field of view of UAVs due to obstacles located on the zone. Simulations show that the proposed control input optimization is able to provide good localization and tracking performance for multiple targets.
关键词：KeywordsCooperative guidancemembership-set estimationtarget searchtracking