Cooperative target tracking in balanced circular formation: Multiple UAVs tracking a ground vehicle

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper extends our previous results on vision-based target tracking of a ground vehicle by one UAV to cooperative tracking using multiple UAVs. An early-designed guidance law that orbits one UAV around the moving target is augmented with an additional term for coordination. This extra term, which can be computed based on the relative bearing angle between two UAVs, puts all UAVs into a balanced circular formation, where all agents spread evenly on a circle. Three communication topologies are considered, i.e., an all-to-all communication, a ring topology, and a cyclic pursuit topology. The effectiveness of the proposed cooperative target tracking control laws is demonstrated by numerical simulation examples.

Original languageEnglish (US)
Title of host publication2013 American Control Conference, ACC 2013
Pages5386-5391
Number of pages6
StatePublished - Sep 11 2013
Event2013 1st American Control Conference, ACC 2013 - Washington, DC, United States
Duration: Jun 17 2013Jun 19 2013

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2013 1st American Control Conference, ACC 2013
CountryUnited States
CityWashington, DC
Period6/17/136/19/13

Keywords

  • Cooperative target tracking
  • balanced circular formation
  • cyclic pursuit

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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  • Cite this

    Ma, L., & Hovakimyan, N. (2013). Cooperative target tracking in balanced circular formation: Multiple UAVs tracking a ground vehicle. In 2013 American Control Conference, ACC 2013 (pp. 5386-5391). [6580679] (Proceedings of the American Control Conference).