Multiple UAVs Nonlinear Guidance Laws for Stationary Target Observation with Waypoint Incidence Angle Constraint

Abstract

Nonlinear guidance law combined with a pseudo pursuit guidance is proposed, to perform stationary target observation mission. Multiple UAVs are considered, with waypoint constraint. The whole guidance is divided into two steps: firstly, waypoint approach, with specified incidence angle; and secondly, loitering around the stationary target. Geometric approach is used to consider the constraint on the waypoint, and a specified phase angle between the loitering UAV and the approaching UAV. In the waypoint approach step, UAVs fly to the waypoint using the pseudo pursuit guidance law. After passing the waypoint, UAVs turn around the target, using a distance error dynamics-based guidance law. Numerical simulations are performed, to verify the performance of the proposed guidance law.

Road-map–assisted standoff tracking of moving ground vehicle using nonlinear model predictive control

“…Therefore, if the left-hand side of the above equation is minimized, the maintenance of the phase angle can be achieved between a pair of UAVs [25]. To apply this technique to a different phase angle between UAVs other than 180 degrees, 1 2 q d θ 2 k can be used instead of 1 2 q dd 2 k . For example, to compensate for the measurement error in the azimuth of one UAV by the small range measurement error of the other UAV, a user can select 90 degrees as a target phase difference between the UAVs.…”

“…Surveillance, and subsequent tracking, of a stationary or moving ground target of interest is one of the important capabilities of UAVs (Unmanned Aerial Vehicles) since it is essential to increase an overall knowledge of the surrounding environment [1][2][3]. To produce appropriate surveillance data to be used by UAVs, a ground moving target indicator (GMTI) is a well-suited sensor due to its wide coverage and all-weather, day/night, and real-time capabilities [4].…”

Optimal waypoint following strategy for unicycle in cluttered environment

“…waypoint following) rozpatrywano najczęsciej w obszarze robotów latających (np. w [7,8]). Opracowano również metody, w których rezygnuje się z optymalizacji ruchu na rzecz innych aspektów problemu, takich jak niepewności pomiarowe sensorów robota [9].…”

Decentralised Standoff Tracking of Moving Targets Using Adaptive Sliding Mode Control for UAVs

“…In performing such missions, once a target of interest is detected by reconnaissance or surveillance systems, further monitoring might be required to obtain closer and higher-resolution surveillance data, by approaching more closely and tracking it persistently [1]. This is not an easy task due to unknown or even adversarial/evasive target manoeuvres, as well as kinematic constraints of UAVs.…”