Coordinated vision-based tracking for multiple UAVs

Venanzio Cichella; Isaac Kaminer; Vladimir Dobrokhodov; Naira Hovakimyan

doi:10.1109/IROS.2015.7353442

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Conference proceeding

Coordinated vision-based tracking for multiple UAVs

Venanzio Cichella, Isaac Kaminer, Vladimir Dobrokhodov and Naira Hovakimyan

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vol.2015-, pp.656-661

09/2015

DOI: 10.1109/IROS.2015.7353442

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Abstract

This paper tackles the problem of coordinated vision-based tracking of a ground target by a fleet of multiple UAVs that exchange information over a supporting time-varying network. The objective of this work is to formulate decentralized control algorithms that enable multiple vehicles to follow a target while coordinating their phase separation. A typical scenario involves multiple aerial surveillance UAVs which are required to monitor a moving ground object (target tracking), while maintaining a desired inter-vehicle separation (coordination). To solve the tracking problem, the yaw rate of each vehicle is used as control input, while the ground speeds are adjusted to achieve coordination. It is assumed that the UAVs are equipped with an internal autopilot, which is able to track yaw rate and ground speed commands. The performance of the coordinated vision-based tracking algorithm is evaluated as a function of target's velocity, tracking performance of the onboard autopilot, and the quality of service of the communication network.

Target tracking

Switches

Kinematics

Topology

Communication networks

Motion control

Vehicles

Details

Title: Subtitle: Coordinated vision-based tracking for multiple UAVs
Creators: Venanzio Cichella - Dept. of Mech. Sci. & Eng., Univ. of Illinois at Urbana-Champaign, Urbana, IL, USA
Isaac Kaminer - Dept. of Mech. & Aerosp. Eng., Naval Postgrad. Sch., Monterey, CA, USA
Vladimir Dobrokhodov - Dept. of Mech. & Aerosp. Eng., Naval Postgrad. Sch., Monterey, CA, USA
Naira Hovakimyan - Dept. of Mech. Sci. & Eng., Univ. of Illinois at Urbana-Champaign, Urbana, IL, USA
Resource Type: Conference proceeding
Publication Details: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vol.2015-, pp.656-661
Publisher: IEEE
DOI: 10.1109/IROS.2015.7353442
ISSN: 2153-0858
eISSN: 2153-0866
Language: English
Date published: 09/2015
Academic Unit: Mechanical Engineering
Record Identifier: 9984064219802771

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