Target Tracking Control of an Autonomous Aerial Vehicle in Unknown Environments

초록

This article deals with the problem of target tracking and detecting in unknown environments by designing two new algorithms for an autonomous aerial vehicle (AAV). First, an auto-Gaussian-GRU-predictive (AGUP) algorithm is designed to solve the tracking problem of a dynamic target in unknown environments. By integrating Gaussian process regression and gated recurrent unit neural networks, the AGUP algorithm can predict the motion trajectory of a dynamic target. Second, a Tabu search interpolated B-spline (TBL) algorithm is also proposed to solve the problem of optimal path planning for multiple stationary targets. The TBL algorithm can efficiently plan the visiting paths and also can enable the path smooth. Third, both AGUP and TBL algorithms are combined with the model predictive control (MPC) approach in order to guide AAVs to track and detect the targets. Finally, simulation and experimental results show that the AGUP-MPC algorithm exhibits excellent tracking capability. In addition, the TBL-MPC algorithm effectively plans the optimal and smooth detection path and controls AAVs to orderly visit multiple stationary targets.

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