Full Text:   <6971>

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CLC number: TN953; TP391.41

On-line Access: 2020-10-14

Received: 2019-11-12

Revision Accepted: 2020-01-03

Crosschecked: 2020-07-28

Cited: 0

Clicked: 5257

Citations:  Bibtex RefMan EndNote GB/T7714


Rui Zhou


Jiang Zhao


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Frontiers of Information Technology & Electronic Engineering  2020 Vol.21 No.10 P.1494-1503


Multi-UAV cooperative target tracking with bounded noise for connectivity preservation

Author(s):  Rui Zhou, Yu Feng, Bin Di, Jiang Zhao, Yan Hu

Affiliation(s):  School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China; more

Corresponding email(s):   jzhao@buaa.edu.cn

Key Words:  Multi-UAV cooperative target tracking, Network connectivity, Kalman consensus filter, Bounded noise, Connectivity preservation

Rui Zhou, Yu Feng, Bin Di, Jiang Zhao, Yan Hu. Multi-UAV cooperative target tracking with bounded noise for connectivity preservation[J]. Frontiers of Information Technology & Electronic Engineering, 2020, 21(10): 1494-1503.

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author="Rui Zhou, Yu Feng, Bin Di, Jiang Zhao, Yan Hu",
journal="Frontiers of Information Technology & Electronic Engineering",
publisher="Zhejiang University Press & Springer",

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%T Multi-UAV cooperative target tracking with bounded noise for connectivity preservation
%A Rui Zhou
%A Yu Feng
%A Bin Di
%A Jiang Zhao
%A Yan Hu
%J Frontiers of Information Technology & Electronic Engineering
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%I Zhejiang University Press & Springer
%DOI 10.1631/FITEE.1900617

T1 - Multi-UAV cooperative target tracking with bounded noise for connectivity preservation
A1 - Rui Zhou
A1 - Yu Feng
A1 - Bin Di
A1 - Jiang Zhao
A1 - Yan Hu
J0 - Frontiers of Information Technology & Electronic Engineering
VL - 21
IS - 10
SP - 1494
EP - 1503
%@ 2095-9184
Y1 - 2020
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/FITEE.1900617

We investigate cooperative target tracking of multiple unmanned aerial vehicles (UAVs) with a limited communication range. This is an integration of UAV motion control, target state estimation, and network topology control. We first present the communication topology and basic notations for network connectivity, and introduce the distributed kalman consensus filter. Then, convergence and boundedness of the estimation errors using the filter are analyzed, and potential functions are proposed for communication link maintenance and collision avoidance. By taking stable target tracking into account, a distributed potential function based UAV motion controller is discussed. Since only the estimation of the target state rather than the state itself is available for UAV motion control and UAV motion can also affect the accuracy of state estimation, it is clear that the UAV motion control and target state estimation are coupled. Finally, the stability and convergence properties of the coupled system under bounded noise are analyzed in detail and demonstrated by simulations.





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