典型文献
Observation-Driven Multiple UAV Coordinated Standoff Target Tracking Based on Model Predictive Control
文献摘要：
An observation-driven method for coordinated standoff target tracking based on Model Predictive Control(MPC)is proposed to improve observation of multiple Unmanned Aerial Vehicles(UAVs)while approaching or loitering over a target.After acquiring a fusion estimate of the target state,each UAV locally measures the observation capability of the entire UAV system with the Fisher Information Matrix(FIM)determinant in the decentralized architecture.To facilitate observation optimization,only the FIM determinant is adopted to derive the performance function and control constraints for coordinated standoff tracking.Additionally,a modified iterative scheme is introduced to improve the iterative efficiency,and a consistent circular direction control is established to maintain long-term observation performance when the UAV approaches its target.Sufficient experiments with simulated and real trajectories validate that the proposed method can improve observation of the UAV system for target tracking and adaptively optimize UAV trajectories according to sensor performance and UAV-target geometry.
文献关键词：
中图分类号：
作者姓名：
Shun Sun;Yu Liu;Shaojun Guo;Gang Li;Xiaohu Yuan
作者机构：
Department of Control Science and Technology,Naval Aviation University,Yantai 264001,China;Department of Control Science and Technology, Naval Aviation University, Yantai 264001,China;Department of Electronic Engineering, Tsinghua University, Beijing 100084, China;National Institute of Defense Technology Innovation, Academy of Military Sciences PLA, Beijing 100091, China;Department of Electronic Engineering,Tsinghua University, Beijing 100084, China;Department of Automation, Tsinghua University, Beijing 100084, China
文献出处：
引用格式：
[1]Shun Sun;Yu Liu;Shaojun Guo;Gang Li;Xiaohu Yuan-.Observation-Driven Multiple UAV Coordinated Standoff Target Tracking Based on Model Predictive Control)[J].清华大学学报自然科学版（英文版）,2022(06):948-963
A类：
Standoff,standoff,loitering
B类：
Observation,Driven,Multiple,Coordinated,Target,Tracking,Based,Model,Predictive,Control,An,observation,driven,method,coordinated,target,tracking,MPC,proposed,improve,multiple,Unmanned,Aerial,Vehicles,UAVs,while,approaching,over,After,acquiring,fusion,estimate,state,each,locally,measures,capability,entire,system,Fisher,Information,Matrix,FIM,determinant,decentralized,architecture,To,facilitate,optimization,only,adopted,derive,performance,function,control,constraints,Additionally,modified,iterative,scheme,introduced,efficiency,consistent,circular,direction,established,maintain,long,when,approaches,its,Sufficient,experiments,simulated,real,trajectories,validate,that,can,adaptively,optimize,according,sensor,geometry
AB值：
0.57492
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机标中图分类号，由域田数据科技根据网络公开资料自动分析生成，仅供学习研究参考。
