Abstract
This paper proposes a distributed target tracking solution using a team of Unmanned Aerial Vehicles (UAVs) equipped with low-cost visual sensors capable of measuring targets bearing information only. The team of UAVs moves along circular orbits and uses consensus–based distributed Kalman Filtering to identify the position of the target. We show that the centre of the orbit eventually converges to the target position using theoretical arguments and extensive simulation data. By using the same approach, we can solve the rendezvous problem: the team first scans an area in search of a target; as soon as one of the UAVs spots, the other components converge on the target position.
Highlights
The use of mini- and micro-Unmanned Aerial Vehicles (UAVs) is a promising solution to identify, monitor and track the position of a moving target [1]
Our main goal in this paper is to show a strategy for the development of low cost and flexible UAV tracking applications using on board vision
We first notice that if the target position p0 lies on the line passing through the current i-th centre pi (t) and the i-th agent, it follows that the local measurement law (2) is mi (t) = pi (t)
Summary
The use of mini- and micro-UAVs (such as quad-rotors) is a promising solution to identify, monitor and (where required) track the position of a moving target [1]. Our main goal in this paper is to show a strategy for the development of low cost and flexible UAV tracking applications using on board vision. This idea is certainly not novel [6,7,8], since visual sensors have considerable advantages: the limited cost, the ability to identify the target through image analysis and the possibility to exploit the same sensor for multiple purposes. Our main point is that in order to be of practical use, the localisation of the target has to be accurate and robust, e.g., with respect to visual occlusions To meet these requirements, we use a team of UAVs that exchange information on the target, seek a consensus on its state and move in circular orbits around it. Each UAV is equipped with a GPS receiver for absolute positioning, and with a magnetometer for yaw angle measurement
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
