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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    Title :

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


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Fu, Wenxing (editor) / Gu, Mancang (editor) / Niu, Yifeng (editor) / Kong, Fanjie (author) / Ge, Chao (author) / Lian, Zheng (author) / Xu, Xiaoyu (author) / Nie, Yiming (author)

    Conference:

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



    Publication date :

    2023-03-10


    Size :

    13 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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