Searching, tracking and positioning moving ground targets is always one of the important applications of UAV. A Multi-UAVs Distributed Cooperative Searching-Tracking-Positioning scheme is proposed for Multi-Targets Searching-Tracking-Positioning missions in urban environments. The scheme is divided into seven modules, including cruise, targets detection, target following, target position measurement, return, threat avoidance and information sharing module. Then, a multi-UAVs cooperative multi-stages multi-targets tracking strategy is proposed, which can achieve stable tracking of different targets by multi-UAVs and cope with special situations. In addition, a vision-based target position measurement method is proposed, which is able to achieve position of ground motion target by relying only on monocular camera. We also consider the problem of multi-UAVs threat avoidance, which makes the multi-UAVs system works safely. Finally, our scheme is evaluated by simulations adopting a rotor UAV model in XTDrone, a customisable UAV simulation platform. In the UAV challenge simulation competition of 2021 China Robot Competition hosted by Chinese Association of Automation, we used this scheme and achieved the first place.


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    Titel :

    Distributed Cooperative Fast Search, Tracking and Positioning of Multiple Ground Moving Targets by Multi-UAVs in Urban Environments


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Fu, Wenxing (Herausgeber:in) / Gu, Mancang (Herausgeber:in) / Niu, Yifeng (Herausgeber:in) / Kong, Fanjie (Autor:in) / Ge, Chao (Autor:in) / Lian, Zheng (Autor:in) / Xu, Xiaoyu (Autor:in) / Nie, Yiming (Autor:in)

    Kongress:

    International Conference on Autonomous Unmanned Systems ; 2022 ; Xi'an, China September 23, 2022 - September 25, 2022



    Erscheinungsdatum :

    10.03.2023


    Format / Umfang :

    13 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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