Curvature Constrained Lyapunov Vector Field for Stand-off Target Tracking

2017 ◽  
Author(s):  
Abin A. Pothen ◽  
Ashwini Ratnoo
Keyword(s):  
Vector Field ◽  
Target Tracking ◽  
Lyapunov Vector

Ground Target Tracking and Collision Avoidance for UAV Based Guidance Vector Field

2015 ◽  
Vol 19 (2) ◽  
pp. 277-283 ◽  
Author(s):  
Zhihong Peng ◽  
◽  
Zhimin Chen
Keyword(s):  
Vector Field ◽  
Target Tracking ◽  
Collision Avoidance ◽  
Single Step ◽  
Planning Strategy ◽  
Dynamic Path Planning ◽  
Ground Target ◽  
Aerial Vehicle ◽  
Dynamic Path ◽  
Lyapunov Vector

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.

Curvature-Constrained Lyapunov Vector Field for Standoff Target Tracking

2017 ◽  
Vol 40 (10) ◽  
pp. 2729-2736 ◽  
Author(s):  
Abin Alex Pothen ◽  
Ashwini Ratnoo
Keyword(s):  
Vector Field ◽  
Target Tracking ◽  
Lyapunov Vector

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
Keyword(s):  
Vector Field ◽  
Target Tracking ◽  
Lyapunov Vector ◽  
Vector Field Guidance

scholarly journals Cooperative Standoff Tracking of Moving Targets Using Modified Lyapunov Vector Field Guidance

2020 ◽  
Vol 10 (11) ◽  
pp. 3709 ◽  
Author(s):  
Fei Che ◽  
Yifeng Niu ◽  
Jie Li ◽  
Lizhen Wu
Keyword(s):  
Vector Field ◽  
Control Method ◽  
Unscented Kalman Filter ◽  
Convergence Time ◽  
Gradient Descent Method ◽  
Multiple Model ◽  
Moving Targets ◽  
Standoff Tracking ◽  
Lyapunov Vector ◽  
Vector Field Guidance

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.

Path-generating regulator following Lyapunov vector field control experiment for four-wheeled vehicles

2019 ◽  
Vol 2019 (0) ◽  
pp. 2P2-P03
Author(s):  
Shota INABE ◽  
Naohiko HANAJIMA ◽  
Manabu GOIO ◽  
Yoshinori FUJIHIRA ◽  
Masato MIZUKAMI
Keyword(s):  
Vector Field ◽  
Control Experiment ◽  
Field Control ◽  
Wheeled Vehicles ◽  
Lyapunov Vector
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