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.
Distributed Cooperative Fast Search, Tracking and Positioning of Multiple Ground Moving Targets by Multi-UAVs in Urban Environments
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2022 ; Xi'an, China September 23, 2022 - September 25, 2022
Proceedings of 2022 International Conference on Autonomous Unmanned Systems (ICAUS 2022) ; Chapter : 201 ; 2154-2166
2023-03-10
13 pages
Article/Chapter (Book)
Electronic Resource
English
Distributed Cooperative Search Control Method of Multiple UAVs for Moving Target
DOAJ | 2015
|Distributed Multi UAV Tracking of Ground Targets In Urban Environments
British Library Conference Proceedings | 2009
|Tracking Strategy of Multiple Moving Targets Using Multiple UAVs
TIBKAT | 2022
|Tracking Strategy of Multiple Moving Targets Using Multiple UAVs
Springer Verlag | 2021
|