This paper addresses cooperative target tracking of a moving ground vehicle using a fleet of unmanned aerial vehicles (UAVs). This work extends our earlier results on two aspects. First, a different formation pattern, i.e., a uniform spacing formation, is incooperated into the cooperative target tracking task. Different from the balanced circular formation achieved earlier where all UAVs spread evenly over a circle, all UAVs can now spread evenly over a portion of a circle, instead of the full circle. The second extension is regarding how formations are achieved. In our past work, cooperative target tracking was obtained by altering each UAV’s yaw rate, while each UAV’s linear velocity was assumed to be constant. In the proposed new approach, tracking is still achieved by altering each UAV’s yaw rate. Formation, on the other hand, is obtained by adjusting each UAV’s linear velocity. Both the balanced circular formation and the uniform spacing formation can be obtained by either approach. Matlab simulations are presented to show the effectiveness of these two approaches in achieving both formations.
Cooperative Target Tracking by Altering UAVs’ Linear and Angular Velocities
2019-06-01
1884048 byte
Conference paper
Electronic Resource
English
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