Optimal UAV coordination for target tracking using dynamic programming
MetadataShow full item record
This work focuses on optimal routing for two camera-equipped UAVs cooperatively tracking a single target moving on the ground. The UAVs are small fixed-wing aircraft cruising at a constant speed and fixed altitude; consequently, the vehicles are modeled as planar Dubins vehicles. A perspective transformation, relating the image-plane measurements to the ground, allows derivation of the geolocation (target localization) error covariance. Using dynamic programming, we compute optimal coordinated control policies which minimize the fused geolocation error covariance. A surprising result, and the main contribution of this work, is that the dominant factor governing the optimal UAV routes is coordination of the distances to the target, not of the viewing directions as is traditionally assumed. ©2010 IEEE.
Showing items related by title, author, creator and subject.
Zhou, Jingyang (2011)In this thesis, we deal with several optimal guidance and control problems of the spacecrafts arising from the study of lunar exploration. The research is composed of three parts: 1. Optimal guidance for the lunar module ...
Gong, Z.; Loxton, Ryan; Yu, Changjun; Teo, Kok Lay (2016)This paper considers the three-dimensional path planning problem for horizontal oil wells. The decision variables in this problem are the curvature, tool-face angle and switching points for each turn segment in the path, ...
Optimal quadrature rules for odd-degree spline spaces and their application to tensor-product-based isogeometric analysisBarton, M.; Calo, Victor (2016)We introduce optimal quadrature rules for spline spaces that are frequently used in Galerkin discretizations to build mass and stiffness matrices. Using the homotopy continuation concept (Barton and Calo, 2016) that ...