TY - GEN
T1 - Multi-UAVs Target Tracking in Urban Environment Based on Distributed Model Predictive Control and Levy Flight-Salp Swarm Algorithm
AU - Zhang, Menghua
AU - Wang, Honglun
AU - Wu, Jianfa
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/8
Y1 - 2018/8
N2 - To address the 3D target tracking problem in urban environment, a multi-unmanned aerial vehicles (UAVs) coordinated framework based on distributed model predictive control (DMPC) and a novel Levy flight-Salp Swarm Algorithm (LSSA) is proposed in this paper. First, the related models for target tracking are established, including the UAV kinematic model, urban obstacle environment, and their corresponding constraints. Second, the DMPC framework for multi-UAVs target tracking is proposed. Third, a recently proposed intelligent searching algorithm: SSA, is selected as the solver of the DMPC problem. To further improve the global searching performance of SSA, the Levy flight strategy is introduced to SSA, and the novel modified SSA is LSSA. Finally, a series of simulations are carried out to show the effectiveness of our proposed framework.
AB - To address the 3D target tracking problem in urban environment, a multi-unmanned aerial vehicles (UAVs) coordinated framework based on distributed model predictive control (DMPC) and a novel Levy flight-Salp Swarm Algorithm (LSSA) is proposed in this paper. First, the related models for target tracking are established, including the UAV kinematic model, urban obstacle environment, and their corresponding constraints. Second, the DMPC framework for multi-UAVs target tracking is proposed. Third, a recently proposed intelligent searching algorithm: SSA, is selected as the solver of the DMPC problem. To further improve the global searching performance of SSA, the Levy flight strategy is introduced to SSA, and the novel modified SSA is LSSA. Finally, a series of simulations are carried out to show the effectiveness of our proposed framework.
KW - 3D target tracking
KW - Levy flight
KW - Salp Swarm Algorithm (SSA)
KW - distributed model predictive control (DMPC)
KW - multi-unmanned aerial vehicles (UAVs)
KW - urban environment
UR - https://www.scopus.com/pages/publications/85082495633
U2 - 10.1109/GNCC42960.2018.9018893
DO - 10.1109/GNCC42960.2018.9018893
M3 - 会议稿件
AN - SCOPUS:85082495633
T3 - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
BT - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE CSAA Guidance, Navigation and Control Conference, CGNCC 2018
Y2 - 10 August 2018 through 12 August 2018
ER -