Real-Time Path Planning with Application for Multi-UAVs to Track Moving Target

Abstract

We propose a coordinated tracking strategy based on the Lyapunov Guidance Vector Field (LGVF) to solve the problem of moving target tracking in real-time path planning for multiple unmanned aerial vehicles (UAVs). First, a tracking strategy is proposed for high/low-altitude UAVs cooperative target tracking, the high altitude UAV monitors target, the low-altitude UAV detects and collects the status information of moving target. Second, to track a moving target and maintain wireless communication in a 3D environment, the LGVF method is improved by introducing flight height into the Lyapunov function, the limit cycle in the horizontal plane and the optimal height in the vertical plane are constantly being adjusted by attraction and repulsion function. Third, as the quality of the route is mainly influenced by the attraction parameters, repulsive parameters and the rate of convergence in the vertical direction, the real-time path can be planned by the rolling optimization according to the predicted motion. The experimental results validate the effectiveness of the tracking strategy.