Decentralized cooperative tracking strategy based on the theory of consistency

This paper proposes a decentralized cooperative tracking strategy based on the theory of consistency for multiple unmanned aerial vehicles (UAVs) cooperative tracking multiple moving targets. To achieve the tracking missions, the strategy estimates a communication principle to share information and to improve the efficiency of communication. On this basis, a decentralized task allocation model based on the theory of consistency is estimated to avoid the conflict of tracking tasks. Meanwhile, the tracking path planning is completed by using the model predictive control (MPC) algorithm. The simulation results demonstrate the effectiveness of the proposed strategy.