Receding Horizon Multi-UAV Cooperative Tracking of Moving RF Source
| Autor: | Ismail Guvenc, Farshad Koohifar, Abhaykumar Kumbhar |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
Computer science
Horizon Transmitter 020302 automobile design & engineering 020206 networking & telecommunications 02 engineering and technology Tracking (particle physics) Computer Science Applications Computer Science::Robotics Core (game theory) symbols.namesake 0203 mechanical engineering Control theory Modeling and Simulation 0202 electrical engineering electronic engineering information engineering Trajectory symbols Motion planning Electrical and Electronic Engineering Fisher information |
| Zdroj: | IEEE Communications Letters. 21:1433-1436 |
| ISSN: | 1089-7798 |
| DOI: | 10.1109/lcomm.2016.2603977 |
| Popis: | In this letter, a receding horizon path planning algorithm is introduced for unmanned aerial vehicle swarms to cooperatively localize a moving radio frequency transmitter. In the core of the proposed algorithm is a model to predict the Fisher information matrix. Using this prediction model, we formulate the most favorable course of action to solve the path planning using local optimization, which helps the system as a whole to achieve the goal over a finite receding horizon. The effectiveness of the proposed algorithm is demonstrated by comparing the proposed mechanism with the non-predictive cooperative technique through computer simulation. It is shown that the expected estimation error can be significantly reduced using the proposed method. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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