Cooperative target tracking algorithm for a couple of UAVs under communication constraints

摘要

One integrated algorithm for a couple of Unmanned Aerial Vehicles (UAVs) to follow a ground target cooperatively is presented. By introducing the funnel function and parameter freezing methods, communication and detection constraints are steadily maintained. Besides, cooperative strategy for measurement fusion purifies the noised geolocation data of the target. A simulation combining all proposed schemes is executed and the effectiveness is verified.