NON-COOPERATIVE GROUND VEHICLE TRACKING AND INTERCEPTION BY MULTI-RPA COLLABORATION

摘要

This paper proposes a system for non-cooperativevehicle tracking and interception by collaborationof two Remotely Piloted Aircraft (RPA). Inthis system, one RPA visually detects and localizesa targeted vehicle from high altitude, and theother makes an interception with it at low altitudeby using the target localization result sent by thefirst RPA. Compared to a mono-RPA operationfor the same purpose, the proposed system hasadvantages of i) easily keeping a target in a fieldof-view, ii) being able to make an agile maneuverto intercept with the target from any angle, iii) ensuringthe communication relay to a ground controlstation, and iv) requiring less RPA payloadcapacity. The paper presents the proposed systemdesign including vision-based target trackingand interception guidance, and flight experimentresults using ONERA RPA platforms.