Abstract
This paper presents strategies for standoff target tracking by a team of unmanned aircrafts using vector field. Many methods to the vector field approach were investigated in other papers, but a modified vector field is introduced to obtain new interesting characteristics in this paper. The modified vector field satisfies more constraints. We introduce two guidance modes to track a target: one is a capturing mode and the other one is a loitering mode. In the capturing mode, aircrafts can arrive at desired positions and time, i.e., unmanned aircrafts can capture a target simultaneously from all sides. After a target is captured, the guidance mode is changed to the loitering mode. Then the relative spacing among aircrafts is controlled by a standoff distance command and a speed command. Hence, they track a target with a desired formation.
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Lim, S., Kim, Y., Lee, D. et al. Standoff Target Tracking using a Vector Field for Multiple Unmanned Aircrafts. J Intell Robot Syst 69, 347–360 (2013). https://doi.org/10.1007/s10846-012-9765-7
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DOI: https://doi.org/10.1007/s10846-012-9765-7