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Tsinghua Science and Technology 2022, 27(6): 948-963 https://doi.org/10.26599/TST.2021.9010033
Open Access | Issue | Published: 21 June 2022

Observation-Driven Multiple UAV Coordinated Standoff Target Tracking Based on Model Predictive Control

Show Author's Information Shun Sun,  Yu Liu( ),  Shaojun Guo( ),  Gang Li,  Xiaohu Yuan
Department of Control Science and Technology, Naval Aviation University, Yantai 264001, China
Department of Control Science and Technology, Naval Aviation University, Yantai 264001, China
Department of Electronic Engineering, Tsinghua University, Beijing 100084, China
National Institute of Defense Technology Innovation, Academy of Military Sciences PLA, Beijing 100091, China
Department of Electronic Engineering, Tsinghua University, Beijing 100084, China
Department of Automation, Tsinghua University, Beijing 100084, China
Keywords:
Model Predictive Control (MPC), coordinated tracking, standoff tracking, observation-driven, multiple UAVs, Fisher Information Matrix (FIM)
Cite this article:
Sun S, Liu Y, Guo S, et al. Observation-Driven Multiple UAV Coordinated Standoff Target Tracking Based on Model Predictive Control. Tsinghua Science and Technology, 2022, 27(6): 948-963. https://doi.org/10.26599/TST.2021.9010033
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Abstract Full text About this article

An observation-driven method for coordinated standoff target tracking based on Model Predictive Control (MPC) is proposed to improve observation of multiple Unmanned Aerial Vehicles (UAVs) while approaching or loitering over a target. After acquiring a fusion estimate of the target state, each UAV locally measures the observation capability of the entire UAV system with the Fisher Information Matrix (FIM) determinant in the decentralized architecture. To facilitate observation optimization, only the FIM determinant is adopted to derive the performance function and control constraints for coordinated standoff tracking. Additionally, a modified iterative scheme is introduced to improve the iterative efficiency, and a consistent circular direction control is established to maintain long-term observation performance when the UAV approaches its target. Sufficient experiments with simulated and real trajectories validate that the proposed method can improve observation of the UAV system for target tracking and adaptively optimize UAV trajectories according to sensor performance and UAV-target geometry.


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About this article

Observation-Driven Multiple UAV Coordinated Standoff Target Tracking Based on Model Predictive Control

Show Author's information Shun Sun, Yu Liu( ), Shaojun Guo( ), Gang Li, Xiaohu Yuan
Department of Control Science and Technology, Naval Aviation University, Yantai 264001, China
Department of Control Science and Technology, Naval Aviation University, Yantai 264001, China
Department of Electronic Engineering, Tsinghua University, Beijing 100084, China
National Institute of Defense Technology Innovation, Academy of Military Sciences PLA, Beijing 100091, China
Department of Electronic Engineering, Tsinghua University, Beijing 100084, China
Department of Automation, Tsinghua University, Beijing 100084, China

Abstract

An observation-driven method for coordinated standoff target tracking based on Model Predictive Control (MPC) is proposed to improve observation of multiple Unmanned Aerial Vehicles (UAVs) while approaching or loitering over a target. After acquiring a fusion estimate of the target state, each UAV locally measures the observation capability of the entire UAV system with the Fisher Information Matrix (FIM) determinant in the decentralized architecture. To facilitate observation optimization, only the FIM determinant is adopted to derive the performance function and control constraints for coordinated standoff tracking. Additionally, a modified iterative scheme is introduced to improve the iterative efficiency, and a consistent circular direction control is established to maintain long-term observation performance when the UAV approaches its target. Sufficient experiments with simulated and real trajectories validate that the proposed method can improve observation of the UAV system for target tracking and adaptively optimize UAV trajectories according to sensor performance and UAV-target geometry.

Keywords: Model Predictive Control (MPC), coordinated tracking, standoff tracking, observation-driven, multiple UAVs, Fisher Information Matrix (FIM)

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Publication history

Received: 09 March 2021
Revised: 20 April 2021
Accepted: 22 April 2021
Published: 21 June 2022
Issue date: December 2022

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© The author(s) 2022.

Acknowledgements

The authors give their sincere thanks to the editors and the anonymous reviewers for their constructive comments of the manuscripts. This work was supported in part by the National Natural Science Foundation of China (Nos. 62022092 and 61790550).

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The articles published in this open access journal are distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/).

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