基于图Laplacian的多机编队目标跟踪方法

doi:10.12305/j.issn.1001-506X.2021.03.25

Abstract

Abstract:

Aiming at the problem of long phase coordination time and limited target speed in multiple unmanned aerial vehicles (UAVs) target tracking, this paper presents a distributed UAV formation target tracking algorithm based on the graph Laplacian method. Firstly, the UAV formation control problem is transformed into the design problem of moving parameter group based on rotation, scaling and translation. And through the design of formation control law, the accurate generation of dynamic formation is realized. Secondly, the formation control method is applied to the target tracking problem. By analyzing the tracking situation under different target speeds and establishing the corresponding tracking model, the problem of tracking target speed limit is overcome, and the UAV formation can co-track the target quickly. Finally, the simulation results verify the effectiveness and advantages of the designed method.

Key words: multiple unmanned aerial vehicle (UAV), target tracking, formation control, graphical Laplacian

CLC Number:

Yi ZHANG, Guowei FANG, Xiuxia YANG. Target tracking method for UAVs formation based on graph Laplacian[J]. Systems Engineering and Electronics, 2021, 43(3): 796-805.

Figures/Tables 8

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Target tracking method for UAVs formation based on graph Laplacian

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