期刊名称：International Journal of Innovative Research in Science, Engineering and Technology
印刷版ISSN：2347-6710
电子版ISSN：2319-8753
出版年度：2015
期号：ICMEET
页码：16
出版社：S&S Publications
摘要：This paper summarizes current work on theoretical and experimental cooperative tracking of movingtargets by a team of UAVs. The Institution Group is leading a diverse group of researchers to develop building blockfoundations for cooperative tracking. The building block algorithms have been maturing through the partners, and theteam led by Institutions is now pulling the technologies together for demonstration and commercialization. The workreported here focuses on cooperative tracking using multiple UAVs, with the ability for one operator to control manyUAVs which are tasked to 1) provide autonomous tracking of moving and evading targets, and 2) report to acentralized database, position history, and velocity vector of the target being tracked. Flock guidance algorithms havebeen developed and simulated to enable a flock of UAVs to track an evading vehicle. Algorithms have beendemonstrated in simulation that dynamically allocate tasks and compute near-optimal paths in real-time; minimize theprobability that vehicles are destroyed due to collision or damage from threat; and accommodate moving targets, timeon-targets, and sequencing, as well as the effects of weather and terrain. Additionally Relocation estimation algorithmsand software have been developed which exchange information among vehicles, process the information robustly andin real time, and have demonstrated that the joint accuracy is improved. Work has also focused on accurateprobabilistic analysis of the estimates, especially considering variations across multiple vehicle sets of Scan EagleUAVs.
