SWITCHED TARGET TRACKING STRATEGY BASED ON MULTI-UAV COOPERATIVE CONTROL
Aimed at the shortcomings of existing tracking strategies in maintaining network topology connectivity and target capture efficiency,a switch target tracking strategy(STS)based on multi-UAV cooperative control is proposed.Considering the fact that only part of the UAV nodes in the dynamic network composed of multi-UAV could detect target,the optimal target estimation was obtained through Kalman consistency filtering.Different motion equations were set up according to the distance between the UAV and the target.Theoretical analysis was conducted by Lyapunov method.Simulation experiments show that the proposed tracking strategy has a success rate of 98％when the target motion trajectory is single,and when the target has the trajectory to escape,the success rate is 95％.The network connectivity and collision-avoiding of the multi-UAV system are always keeping in the process of tracking.
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