Decentralized Control of Multi-UAVs for Target Search, Tasking and Tracking

Abstract

This paper considers integrated target search, tasking and tracking using multiple fixed-wing UAVs in urban environments. The problem is to design autonomy for each individual UAV autonomous and distributed tasking. Control logic design based on finite state automaton (FSA) model, integrating the four modes of operations, i.e., takeoff mode, fly-to-AO (area of operation) mode, search mode and tracking mode, is developed. An efficient distributed multi-UAV target search algorithm is also presented. UAV guidance and control is built based on combined urban road map and target detection probability map information. For target tracking, by using geometric relations (relative position, orientations, speed ratio, and minimal turning radius), a systematic algorithm is developed to generate an optimal path online for a fixed-wing UAV to track a moving target. In addition, control method for a group of UAVs to keep track a target convoy is also addressed. Finally, the proposed decentralized algorithms are evaluated by simulations adopting a real UAV model.