Unmanned Aerial Vehicles Cooperative Tracking of Moving Ground Target in Urban Environments

2008 ◽  
Vol 31 (5) ◽  
pp. 1360-1371 ◽  
Author(s):  
Vitaly Shaferman ◽  
Tal Shima
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Urban Environments ◽  
Aerial Vehicles ◽  
Ground Target ◽  
Cooperative Tracking

Tracking Multiple Ground Targets in Urban Environments Using Cooperating Unmanned Aerial Vehicles

2015 ◽  
Vol 137 (5) ◽  
Author(s):  
Vitaly Shaferman ◽  
Tal Shima
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Optimization Problem ◽  
Task Assignment ◽  
Monte Carlo Study ◽  
Urban Environments ◽  
Test Bed ◽  
Team Members ◽  
Distributed Approach ◽  
Aerial Vehicles ◽  
Cooperative Tracking

A distributed approach is proposed for planning a cooperative tracking task for a team of heterogeneous unmanned aerial vehicles (UAVs) tracking multiple predictable ground targets in a known urban environment. The solution methodology involves finding visibility regions, from which the UAV can maintain line-of-sight to each target during the scenario, and restricted regions, in which a UAV cannot fly, due to the presence of buildings or other airspace limitations. These regions are then used to pose a combined task assignment and motion planning optimization problem, in which each UAV's cost function is associated with its location relative to the visibility and restricted regions, and the tracking performance of the other UAVs in the team. A distributed co-evolution genetic algorithm (CEGA) is derived for solving the optimization problem. The proposed solution is scalable, robust, and computationally parsimonious. The algorithm is centralized, implementing a distributed computation approach; thus, global information is used and the computational workload is divided between the team members. This enables the execution of the algorithm in relatively large teams of UAVs servicing a large number of targets. The viability of the algorithm is demonstrated in a Monte Carlo study, using a high fidelity simulation test-bed incorporating a visual database of an actual city.

The development of a target-lock-on optical remote sensing system for unmanned aerial vehicles

2006 ◽  
Vol 110 (1105) ◽  
pp. 163-172 ◽  
Author(s):  
F-B Hsiao ◽  
T-L Liu ◽  
Y-H Chien ◽  
M-T Lee ◽  
R. Hirst
Keyword(s):  
Remote Sensing ◽  
Unmanned Aerial Vehicles ◽  
Optical Sensors ◽  
Ccd Camera ◽  
Flight Test ◽  
Image Transmission ◽  
Optical Remote Sensing ◽  
Sensing System ◽  
Aerial Vehicles ◽  
Ground Target

Abstract The use of unmanned aerial vehicles (UAVs) in various military and civil applications is the subject of much current attention. With recent developments in personal computer technology, and the availability at affordable cost of peripherals, and electronic and optical sensors, UAVs for long endurance missions, with flight autonomy beyond the visual range, have become an attractive challenge for study in universities and research institutes. This paper describes the development of a target-lock-on optical remote sensing system to be used as a payload in a university-class UAV. To accomplish autonomous way-point navigation for the conduct of optical sensing surveillance, a gimbaled-platform with servo control and an Attitude and Heading Reference System (AHRS) navigation system for UAV position and attitude measurements have been developed. The UAV also utilises a Global Position System (GPS) receiver, a pressure altimeter, gyroscopes and an electric compass. A novel mathematical model is proposed to calculate the optimal parameters for orientating the CCD camera line of sight with a ground target, designated in real time from a ground control station. Both ground and flight test results have demonstrated the feasibility of the navigation control scheme and the UAV’s ability to conduct ground target acquisition and image transmission.

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