UAV Path Planning for Passive Multi-Target Following in Complex Environment

摘要

In this paper the problem of following multiple noncooperative and high agile surface targets using multiple fixedwing unmanned aerial vehicles (UAVs) in complex environment is studied and a real-time rule-based target following algorithm is proposed.The complex environment consists of hard threats,soft threats and sensor missed detections.The multi-dimensional assignment algorithm is applied to address the data association problem,and the target trajectory approximation algorithm is then developed to determine the motion trajectories of the targets.And a simulation example is given to verify the efficiency of the proposed algorithm.