Journal of Intelligent & Robotic Systems

, Volume 68, Issue 3–4, pp 359–371 | Cite as

UAV Mobile Ground Target Pursuit Algorithm



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.


UAV Ground target tracking Path patterns Alarm mechanism 


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Copyright information

© Springer Science+Business Media B.V. 2012

Authors and Affiliations

  1. 1.School of Electronics and InformationNorthwestern Polytechnical UniversityXi’anChina

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