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UAV Mobile Ground Target Pursuit Algorithm

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Abstract

In this paper, we propose a comprehensive ground target pursuit algorithm for fixed-wing unmanned aerial vehicles (UAVs). Based on the division of two kinds of possible path patterns, the method generates waypoints step by step and steers the UAV to the latest waypoint. When it is time for waypoint correction, the tracking error will be recorded, and this error will be transferred to the next waypoint for synchronization purposes. An alarm mechanism is applied in case the target moves out of range of the UAV sensor. The noise in the measurement of the target parameters is considered and is processed by a least square estimator. Simulations with three different scenarios are performed, and the results demonstrate that the algorithm is stable, reliable, and computationally efficient.

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Authors and Affiliations

  1. School of Electronics and Information, Northwestern Polytechnical University, Xi’an, China

    Xiaowei Fu, Huicheng Feng & Xiaoguang Gao

Authors
  1. Xiaowei Fu
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  2. Huicheng Feng
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  3. Xiaoguang Gao
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Correspondence to Xiaowei Fu.

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Fu, X., Feng, H. & Gao, X. UAV Mobile Ground Target Pursuit Algorithm. J Intell Robot Syst 68, 359–371 (2012). https://doi.org/10.1007/s10846-012-9690-9

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  • DOI: https://doi.org/10.1007/s10846-012-9690-9

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