Cooperative Path Optimization for Multi-UAVs Based on Dynamic Target Positioning and Tracking

This paper addresses the path planning problem of UAVs in the process of co-locating and tracking moving targets. Based on the particle filter tracking model and considering path planning and target tracking integrated processing, two optimization algorithms, interception and pursuit, are proposed to minimize the flight path with guaranteed positioning accuracy. After simulation experiments, we compare the performance of the two algorithms in path optimization and the impact on positioning accuracy to prove that both algorithms have good performance.

[1]  Baoqi Huang,et al.  TDOA-Based Source Localization With Distance-Dependent Noises , 2015, IEEE Transactions on Wireless Communications.

[2]  Huaping Liu,et al.  Semidefinite Programming for NLOS Error Mitigation in TDOA Localization , 2018, IEEE Communications Letters.

[3]  Chau Yuen,et al.  Wireless energy transfer to a pair of energy receivers using signal strength feedback , 2018, 2018 16th International Symposium on Modeling and Optimization in Mobile, Ad Hoc, and Wireless Networks (WiOpt).

[4]  Zheng Yao,et al.  Angle-of-Arrival Assisted GNSS Collaborative Positioning , 2016, Sensors.

[5]  Huijing Dou,et al.  A new TDOA estimation method in Three-satellite interference localisation , 2015 .

[6]  Wei Ni,et al.  Efficient Angle-of-Arrival Estimation of Lens Antenna Arrays for Wireless Information and Power Transfer , 2019, IEEE Journal on Selected Areas in Communications.

[7]  Zhao Min.  Study on Cooperative Tracking Algorithm Based on Particle Filter for UAVs , 2012 .

[8]  Brian D. O. Anderson,et al.  Optimality analysis of sensor-target localization geometries , 2010, Autom..

[9]  Liu Zhong.  Cooperative ground moving target track method using two unmanned aerial vehicles , 2013 .

[10]  Ricky Lap-Hou Lao,et al.  Detecting Hand Gestures with Wi-Fi Technology: Applications for Received-Signal-Strength Indicators in Interactive Interface Design , 2018, IEEE Consumer Electronics Magazine.

[11]  Yinghui Zhang,et al.  Improved time difference of arrival estimation algorithms for cyclostationary signals in α-stable impulsive noise , 2018, Digit. Signal Process..

[12]  Liu Xuan,et al.  Multi-target tracking with mobile camera using convex combination detection and nearest distance decision , 2010, 2010 Second International Conference on Communication Systems, Networks and Applications.