The Method of Multi Unmanned Aerial Vehicle Cooperative Tracking in Formation Based on the Theory of Consensus

Author

Xia Chen ; Chong Zhang

Author_Institution

Autom. Dept., Shenyang Aerosp. Univ., Shenyang, China

Volume

2

fYear

2013

fDate

26-27 Aug. 2013

Firstpage

148

Lastpage

151

Abstract

Considering the problem of multi unmanned aerial vehicle (UAV) cooperative tracking multi-UAV formation, a decentralized cooperative tracking control method is presented. Through the establishment of UAV particle motion model and the UAV formation model, the multi-UAV formation tracking motion model by using the consensus algorithm is established, then multi-UAV formation tracking method Based on consensus algorithm is proposed, and the purpose of tracking hostile UAV formation in real time is achieved. The simulation results demonstrate that the method could solve the control problem of multi-UAV tracking multi-UAV formation effectively and reasonably.

Keywords

autonomous aerial vehicles; decentralised control; motion control; multi-robot systems; trajectory control; UAV formation model; UAV particle motion model; consensus theory; decentralized cooperative tracking control method; hostile UAV formation tracking; multiUAV formation tracking motion model; multiunmanned aerial vehicle cooperative tracking; Algorithm design and analysis; Mathematical model; Object oriented modeling; Real-time systems; Simulation; Target tracking; consensus; cooperative control; target tracking; unmanned aerial vehicle;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2013 5th International Conference on

Conference_Location

Hangzhou

Print_ISBN

978-0-7695-5011-4

Type

conf

DOI

10.1109/IHMSC.2013.182

Filename

6642710