scholarly journals Fast Lyapunov Vector Field Guidance for Standoff Target Tracking Based on Offline Search

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 124797-124808 ◽  
Author(s):  
Shun Sun ◽  
Haipeng Wang ◽  
Jun Liu ◽  
You He
2020 ◽  
Vol 10 (11) ◽  
pp. 3709 ◽  
Author(s):  
Fei Che ◽  
Yifeng Niu ◽  
Jie Li ◽  
Lizhen Wu

Cooperative standoff tracking of moving targets is an important application of fixed-wing unmanned aerial vehicles (UAVs). To cope with the problem of long convergence time and unstable tracking in cooperative target tracking, traditional Lyapunov vector field guidance (LVFG) is modified. The guidance parameter c is discussed, and the gradient descent method is utilized to develop the optimal guidance parameter search algorithm. As for tracking moving targets, an interacting multiple model-based unscented Kalman filter (IMM-UKF) estimator is built for predicting the target state, and the result is used for correcting the guidance law. Meanwhile, a speed-based controller is developed for faster convergence to the desired intervehicle phase, and the stability of the controller is proved using the Lyapunov stability theory. Numerical simulation results indicate the proposed guidance converges faster to the standoff circle without intersecting the orbit. The state estimator reduces the estimate error and the intervehicle phase converges faster to the desired phase than the traditional control method. Furthermore, extensive hardware-in-the-loop simulations are carried out to verify the feasibility of the algorithm.


Author(s):  
Zhihong Peng ◽  
◽  
Zhimin Chen

This paper focuses on ground-moving target tracking of an unmanned aerial vehicle (UAV) in the presence of static obstacles and moving threat sources. Due to a UAV is restricted by airspace restrictions and measurement limitations during flight, we derive a dynamic path planning strategy by generating guidance vector filed combined Lyapunov vector field with collision avoidance potential function to track target in standoff distance loitering pattern, and resolved collision avoidance, simultaneously. This method relies only on the current information of the UAV and target, and generates a single-step route plan in realtime. Its performance is simple, efficient, and fast and have low computational complexity. The results of numerical simulation verify the effectiveness of the tracking and collision avoidance process of the UAV.


2017 ◽  
Vol 40 (10) ◽  
pp. 2729-2736 ◽  
Author(s):  
Abin Alex Pothen ◽  
Ashwini Ratnoo

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