Abstract
In this paper we propose an estimation based 3D cooperative guidance controller for multiple unmanned aerial vehicles (UAV) in a target tracking application. The target state vector is estimated from available measurements of range, azimuth, and elevation angle provided by a ground based sensor or an on-board seeker antenna. The cooperation of the vehicles is represented by a directed graph assuming perfect communication. Additionally, the state vector of each UAV is assumed to be corrupted by measurement noise and available from their own on-board sensors, namely GPS + IMU. The estimated states of the chasers and the target are utilized in a 3D nonlinear guidance law designed based on a backstepping like technique, which provides signals for the velocity, flight path, and course/heading angle to achieve the consensus of target tracking. We present the simulation results for 3 cooperative UAVs where all UAVs successfully reach consensus (target tracking).
Published Version
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