| 引用本文: | 王林,彭辉,朱华勇,沈林成.复杂环境下多无人机协作式地面移动目标跟踪[J].控制理论与应用,2011,28(3):300~308.[点击复制] |
| WANG Lin,PENG Hui,ZHU Hua-yong,SHEN Lin-cheng.Cooperative tracking of ground moving target using unmanned aerial vehicles in cluttered environment[J].Control Theory and Technology,2011,28(3):300~308.[点击复制] |
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| 复杂环境下多无人机协作式地面移动目标跟踪 |
| Cooperative tracking of ground moving target using unmanned aerial vehicles in cluttered environment |
| 摘要点击 3823 全文点击 3235 投稿时间：2009-12-02 修订日期：2010-05-11 |
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| DOI编号 10.7641/j.issn.1000-8152.2011.3.CCTA091558 |
| 2011,28(3):300-308 |
| 中文关键词 无人机 地面移动目标 协作式目标跟踪 分布式估计 在线航迹规划 |
| 英文关键词 unmanned aerial vehicle(UAV) ground moving target cooperative target tracking distributed estimating on-line trajectory planning |
| 基金项目 国家重大基础研究项目资助项目(6138101001); 工信部国防基础科研项目资助项目(A2820080247). |
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| 中文摘要 |
| 针对多无人机(UAV)协同地面移动目标跟踪问题展开研究. 提出一种基于主动感知的问题求解框架, 建立多UAV协同目标跟踪问题模型; 在此基础上, 采用分布式无色信息滤波实现目标状态融合估计与预测; 然后, 基于预测目标状态, 结合滚动时域控制与遗传算法设计一种多UAV在线协同航迹规划算法. 仿真结果表明: 结合预测目标状态在线优化UAV航迹能够获得更好的目标跟踪性能. |
| 英文摘要 |
| We investigate the cooperative tracking of a ground moving target in a cluttered environment by using unmanned aerial vehicles(UAV). Firstly, a model the cooperative target tracking by UAV is developed based on active sensing; secondly, a distributed unscented information filter is built for the estimation fusion and the prediction of target states. Finally, an online trajectory planning algorithm based on the receding horizon control and the genetic algorithm is designed and implemented, with the predicted target states as the inputs to this planning algorithm. Numerical simulations demonstrate that the proposed method effectively improves the performance of target tracking. |