Decentralized Control of Multi-UAVs for Target Search, Tasking and Tracking
نویسندگان
چکیده
This paper considers integrated target search, tasking and tracking using multiple fixed-wing UAVs in urban environments. The problem is to design autonomy for each individual UAV autonomous and distributed tasking. Control logic design based on finite state automaton (FSA) model, integrating the four modes of operations, i.e., takeoff mode, fly-to-AO (area of operation) mode, search mode and tracking mode, is developed. An efficient distributed multiUAV target search algorithm is also presented. UAV guidance and control is built based on combined urban road map and target detection probability map information. For target tracking, by using geometric relations (relative position, orientations, speed ratio, and minimal turning radius), a systematic algorithm is developed to generate an optimal path online for a fixed-wing UAV to track a moving target. In addition, control method for a group of UAVs to keep track a target convoy is also addressed. Finally, the proposed decentralized algorithms are evaluated by simulations adopting a real UAV model.
منابع مشابه
Decentralized and Cooperative Multi-Sensor Multi-Target Tracking With Asynchronous Bearing Measurements
Bearings only tracking is a challenging issue with many applications in military and commercial areas. In distributed multi-sensor multi-target bearings only tracking, sensors are far from each other, but are exchanging data using telecommunication equipment. In addition to the general benefits of distributed systems, this tracking system has another important advantage: if the sensors are suff...
متن کاملA Gravitational Search Algorithm-Based Single-Center of Mass Flocking Control for Tracking Single and Multiple Dynamic Targets for Parabolic Trajectories in Mobile Sensor Networks
Developing optimal flocking control procedure is an essential problem in mobile sensor networks (MSNs). Furthermore, finding the parameters such that the sensors can reach to the target in an appropriate time is an important issue. This paper offers an optimization approach based on metaheuristic methods for flocking control in MSNs to follow a target. We develop a non-differentiable optimizati...
متن کاملEfficiency of Target Location Scenarios in the Multi-Transmitter Multi-Receiver Passive Radar
Multi-transmitter multi-receiver passive radar, which locates target in the surveillance area by the reflected signals of the available opportunistic transmitter from the target, is of interest in many applications. In this paper, we investigate different signal processing scenarios in multi-transmitter multi-receiver passive radar. These scenarios include decentralized processing of reference ...
متن کاملFault-tolerant Cooperative Target Tracking in Distributed UAV Networks
In this paper, we propose a target tracking scheme for operation in distributed UAV networks in which sensors may read the target position incorrectly. The proposed scheme operates two algorithms concurrently: semi-decentralized dynamic data fusion and fault detection. The semi-decentralized dynamic data fusion algorithm employs a median-consensus algorithm using extended non-faulty neighbours ...
متن کاملAn Automatic UAV Search, Intercept, and Follow Algorithm for Persistent Surveillance
Substantial research has addressed the problems of automatic search, routing, and sensor tasking for UAVs, producing many good algorithms for each task. But UAV surveillance missions typically include combinations of these tasks, so an algorithm that can manage and control UAVs through multiple tasks is desired. The algorithm in this paper employs a cooperative graph-based search when target st...
متن کامل