TY - GEN
T1 - Planning algorithm based on airborne sensor for UAV to track and intercept moving target in dynamic environment
AU - Sang, Yun
AU - Cai, Zhihao
AU - Lin, Qing
AU - Wang, Yingxun
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2015/1/12
Y1 - 2015/1/12
N2 - This paper describes a planning algorithm based on airborne for UAV to track and intercept moving target in the presence of dynamic obstacles and considering the maneuvering characteristics of the Unmanned Aerial Vehicle (UAV). In the context of ensuring airborne sensor (camera) to keep track of the target, the approach can generate time-optimal speed commands for UAV in dynamic environment to intercept the target after discovering it. By filtering the velocity instruction and considering the acceleration performance to generate reachable velocity commands. Assumption of this method is that the coordinates of the UAV and the coordinates of moving targets and obstacles in the range of airborne sensors can be obtained in real time. Extensive simulation and experimental result show that this method can effectively ensure the moving target tracking and interception in dynamic environment.
AB - This paper describes a planning algorithm based on airborne for UAV to track and intercept moving target in the presence of dynamic obstacles and considering the maneuvering characteristics of the Unmanned Aerial Vehicle (UAV). In the context of ensuring airborne sensor (camera) to keep track of the target, the approach can generate time-optimal speed commands for UAV in dynamic environment to intercept the target after discovering it. By filtering the velocity instruction and considering the acceleration performance to generate reachable velocity commands. Assumption of this method is that the coordinates of the UAV and the coordinates of moving targets and obstacles in the range of airborne sensors can be obtained in real time. Extensive simulation and experimental result show that this method can effectively ensure the moving target tracking and interception in dynamic environment.
UR - https://www.scopus.com/pages/publications/84922513363
U2 - 10.1109/CGNCC.2014.7007480
DO - 10.1109/CGNCC.2014.7007480
M3 - 会议稿件
AN - SCOPUS:84922513363
T3 - 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
SP - 1972
EP - 1977
BT - 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
Y2 - 8 August 2014 through 10 August 2014
ER -