Cooperative ground moving target standoff tracking using UAVs

To the problem of cooperative standoff tracking of a ground moving target using a team of UAVs, a novel solving framework was presented, which based on target state fusion estimation and prediction, as well as on-line motion planning. Firstly, a solving framework was presented, the formal representation and system models were established; secondly, the unscented information filter was suggested for the fusion estimation and prediction of the target state; thirdly, with a predicted target state, a modified central motion planning algorithm was presented, which based on Lyapunov vector field approach. Simulation results demonstrated that the performance of cooperative standoff target tracking was improved with regard to the fusion estimation and prediction of the target state.