TY - GEN
T1 - Multi-UAV Target Tracking Method Based on Lyapunov Navigation Vector Field with Heterogeneous Roles
AU - Jiang, Zhao
AU - Qing, Li
AU - Pei, Chi
AU - Lu, Kelin
AU - Yan, Ma
AU - Yingxun, Wang
N1 - Publisher Copyright:
© 2025 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2025
Y1 - 2025
N2 - This paper studies the problem of spatio-temporal coordinated control algorithm in multi-UAV collaborative target tracking and proposes a heterogeneous role-based Lyapunov navigation vector field. First, a heterogeneous roles assignment algorithm is proposed to guide UAVs to form a tracking formation pattern, and a navigation vector field whose deflection characteristics matching the heterogeneous roles is designed to realize the coordinated spatio-temporal control of multi-UAV. Second, based on the target reachability estimation, we propose to measure the multi-UAV collaborative target tracking effectiveness by the ratio of the current detection range of multi-UAV to the target reachable area, and optimize the heading angle controller in this way. Finally, simulations are conducted to verify the effectiveness of the above algorithms.
AB - This paper studies the problem of spatio-temporal coordinated control algorithm in multi-UAV collaborative target tracking and proposes a heterogeneous role-based Lyapunov navigation vector field. First, a heterogeneous roles assignment algorithm is proposed to guide UAVs to form a tracking formation pattern, and a navigation vector field whose deflection characteristics matching the heterogeneous roles is designed to realize the coordinated spatio-temporal control of multi-UAV. Second, based on the target reachability estimation, we propose to measure the multi-UAV collaborative target tracking effectiveness by the ratio of the current detection range of multi-UAV to the target reachable area, and optimize the heading angle controller in this way. Finally, simulations are conducted to verify the effectiveness of the above algorithms.
KW - Lyapunov navigation vector field
KW - Multi-UAV
KW - collaborative target tracking
KW - spatio-temporal coordinated control
UR - https://www.scopus.com/pages/publications/105006518014
U2 - 10.1007/978-981-96-2244-3_20
DO - 10.1007/978-981-96-2244-3_20
M3 - 会议稿件
AN - SCOPUS:105006518014
SN - 9789819622436
T3 - Lecture Notes in Electrical Engineering
SP - 199
EP - 209
BT - Advances in Guidance, Navigation and Control - Proceedings of 2024 International Conference on Guidance, Navigation and Control Volume 12
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Deng, Yimin
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2024
Y2 - 9 August 2024 through 11 August 2024
ER -