This paper proposes a distributed positioning algorithm for a swarm of unmanned aerial vehicles (UAVs) to track multiple moving targets with bearing-only measurements. An approximate performance metric is first derived that can be used in position determination based on the properties of multisensor joint probabilistic data association (JPDA) filter. A fully distributed position planning algorithm using incremental optimization strategy is then proposed for tracking multiple moving targets. Simulation examples with comparison results validate the effectiveness of the proposed algorithm.


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    Titel :

    Distributed Unmanned Aerial Vehicle Positioning for Multitarget Tracking with Bearing-Only Information


    Beteiligte:
    Yang, Xiwen (Autor:in) / He, Shaoming (Autor:in) / Lin, Defu (Autor:in) / Wang, Yadong (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.05.2022




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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