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题名: ESMF based multiple UAVs active cooperative observation method in relative velocity coordinates
作者: Gu F(谷丰) ; He YQ(何玉庆) ; Han JD(韩建达) ; Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: 2009 48th IEEE Conference on Decision and Control. jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009
会议日期: December 15-18, 2009
会议地点: Shanghai, China
会议主办者: IEEE
会议录: Proceedings of the 48th IEEE Conference on Decision and Control. jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009
会议录出版者: IEEE
会议录出版地: New York
出版日期: 2009
页码: 3008-3013
收录类别: EI
摘要: Based on extended set-membership filter (ESMF) and the path planning method in relative velocity coordinates (RVCs), a new 3D multiple Unmanned Aerial Vehicle (UAV) systems active cooperative observation method, high precision cooperative observing a moving target by proper planning the behavior of each member vehicle, is proposed. The new method combines the ESMF based cooperative observation method and the LP-based trajectory generation method in RVCs, where the ESMF based cooperative method is used to obtain the moving target's motion state which is further used as part of the cost function to plan the UAV's behavior by using the planning method in RVCs. The contribution of this paper is: (1) the computational burden of the proposed cooperative algorithm is comparable to single ESMF algorithm; (2) the high precision observation of moving target is always obtainable by considering the optimal observation condition during trajectory planning; (3) the planning algorithm in RVCs, where the trajectory planning can be modeled as a LP problem, is used to optimize the UAV's behavior, thus, in company with (Gu, et al; 2006), the fast application of the new proposed active cooperative observation method is desirable. Finally, the simulations in 3D environments are conducted to verify the feasibility and validity of the method.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/8692
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
谷丰; 何玉庆; 韩建达; 王越超.ESMF based multiple UAVs active cooperative observation method in relative velocity coordinates.见:IEEE .Proceedings of the 48th IEEE Conference on Decision and Control. jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009 ,New York,2009,3008-3013
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