DocumentCode :
621708
Title :
Static targets´ track path for UAVs meeting the revisit interval requirement
Author :
He, Zhirong ; Xu, Jian-Xin ; Ren, Qinyuan
Author_Institution :
Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117576
fYear :
2013
fDate :
28-31 May 2013
Firstpage :
1
Lastpage :
6
Abstract :
This paper addresses the problem of autonomous tracking a set of ground static targets using minimal fixed wing unmanned aerial vehicles(UAVs). Each target is tracked loosely and has its desired revisit interval. Due to the UAV´s dynamic constrains of fixed wing, it is modeled as a Dubins car. The motion planing of UAVs is a NP hard problem to find the shortest path, i.e. Dubins path. Because of the constraint of revisit interval, the decomposition of targets can not be done only based on the distance between each other as the classic method does. Based on the algorithm of computing Dubins path, an algorithm is thus introduced for sub-optimal track path which can bring a closed-loop path for UAVs continuously tracking this set of targets within the desired revisit interval. To test the algorithm, simulations are given.
Keywords :
Algorithm design and analysis; Planning; Target tracking; Tracking loops; Trajectory; Dubins path; Path planning; Revisit time interval; Unmanned aerial vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics (ISIE), 2013 IEEE International Symposium on
Conference_Location :
Taipei, Taiwan
ISSN :
2163-5137
Print_ISBN :
978-1-4673-5194-2
Type :
conf
DOI :
10.1109/ISIE.2013.6563763
Filename :
6563763
Link To Document :
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