A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the target and the UAVs to within desired values, and to guarantee that the generated control inputs to the UAVs are feasible (i.e., within their motion capabilities). Moreover, the UAVs are controlled to ensure that the target always remains within the fields of view of their onboard cameras. To the best of our knowledge, this is the first work to apply multiple UAVs to cooperatively track a dynamic target while ensuring that the UAVs remain connected and that both occlusion and collisions are avoided. To achieve these control objectives, a designed controller solved based on the aforementioned tracking controller using quadratic programming can generate minimally invasive control actions to achieve occlusion avoidance and collision avoidance. Furthermore, control barrier functions (CBFs) with a distributed design are developed in order to reduce the amount of inter-UAV communication. Simulations were performed to assess the efficacy and performance of the developed CBF-based controller for the multi-UAV system in tracking a target.
翻译:开发了无人驾驶航空器跟踪控制器,以跟踪在翻译和轮调方面出现未知动作的移动目标,主要挑战在于控制目标与无人驾驶航空器之间的相对位置和角度,使其达到理想值,并确保对无人驾驶航空器产生的控制投入(即在其运动能力范围内)是可行的;此外,对无人驾驶航空器进行控制,以确保目标始终保持在机上摄像机的视域之内;据我们所知,这是首次采用多架无人驾驶航空器合作跟踪动态目标,同时确保无人驾驶航空器保持连接,并确保隔离和碰撞均避免发生;为了实现这些控制目标,利用上述跟踪控制器的四重力程序设计一个基于上述跟踪控制器的设计控制器,可产生最低限度的入侵控制行动,以达到隔离和避免碰撞的目标;此外,还开发了带有分布式设计的控制屏功能,以减少无人驾驶航空器之间的通信量;进行了模拟,以评估在跟踪目标方面基于多压飞行器系统的发达的CBF控制器的功效和性能。