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Open Access

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

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
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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

coordinated trackingstandoff trackingobservation-drivenModel Predictive Control (MPC)multiple UAVsFisher Information Matrix (FIM)

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Tsinghua Science and Technology
Volume 27 Issue 6,
December 2022
Pages 948-963
DOI: 10.26599/TST.2021.9010033
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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Received: 09 March 2021
Revised: 20 April 2021
Accepted: 22 April 2021
Published: 21 June 2022
© The author(s) 2022.

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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