Title :
UAV target tracking using an adversarial iterative prediction
Author :
Theodorakopoulos, Panagiotis ; Lacroix, Simon
Author_Institution :
LAAS/CNRS, Univ. of Toulouse, Toulouse, France
Abstract :
We present a control strategy that permits a fixed wing UAV to visually track a ground target. A pursuit-evasion strategy aims at optimizing the visibility of the pursuer UAV after having predicted the best action for the evading target. This is achieved by using two iterative methods that optimise various mission based criteria: obstacle avoidance and visibility maximisation for the UAV and stealthy motions for the target.
Keywords :
collision avoidance; iterative methods; remotely operated vehicles; target tracking; UAV target tracking; adversarial iterative prediction; fixed wing UAV; obstacle avoidance; pursuit-evasion strategy; stealthy motions; unmanned aerial vehicles; visibility maximisation; Aircraft navigation; Automatic control; Helicopters; Iterative methods; Optimization methods; Predictive models; Robotics and automation; Robots; Target tracking; Unmanned aerial vehicles;
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2009.5152332