Title :
The Method of Multi Unmanned Aerial Vehicle Cooperative Tracking in Formation Based on the Theory of Consensus
Author :
Xia Chen ; Chong Zhang
Author_Institution :
Autom. Dept., Shenyang Aerosp. Univ., Shenyang, China
Abstract :
Considering the problem of multi unmanned aerial vehicle (UAV) cooperative tracking multi-UAV formation, a decentralized cooperative tracking control method is presented. Through the establishment of UAV particle motion model and the UAV formation model, the multi-UAV formation tracking motion model by using the consensus algorithm is established, then multi-UAV formation tracking method Based on consensus algorithm is proposed, and the purpose of tracking hostile UAV formation in real time is achieved. The simulation results demonstrate that the method could solve the control problem of multi-UAV tracking multi-UAV formation effectively and reasonably.
Keywords :
autonomous aerial vehicles; decentralised control; motion control; multi-robot systems; trajectory control; UAV formation model; UAV particle motion model; consensus theory; decentralized cooperative tracking control method; hostile UAV formation tracking; multiUAV formation tracking motion model; multiunmanned aerial vehicle cooperative tracking; Algorithm design and analysis; Mathematical model; Object oriented modeling; Real-time systems; Simulation; Target tracking; consensus; cooperative control; target tracking; unmanned aerial vehicle;
Conference_Titel :
Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2013 5th International Conference on
Conference_Location :
Hangzhou
Print_ISBN :
978-0-7695-5011-4
DOI :
10.1109/IHMSC.2013.182
