DocumentCode :
2379410
Title :
UAV target tracking using an adversarial iterative prediction
Author :
Theodorakopoulos, Panagiotis ; Lacroix, Simon
Author_Institution :
LAAS/CNRS, Univ. of Toulouse, Toulouse, France
fYear :
2009
fDate :
12-17 May 2009
Firstpage :
2866
Lastpage :
2871
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;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
ISSN :
1050-4729
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2009.5152332
Filename :
5152332
Link To Document :
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