Article

Ground Target Tracking Using UAV with Input Constraints

Journal of Intelligent and Robotic Systems (Impact Factor: 0.81). 01/2012; 65(1-4):521-532. DOI: 10.1007/s10846-011-9574-4
Source: DBLP

ABSTRACT This paper deals with the problem of adversarial ground target tracking using Unmanned Aerial Vehicles (UAVs) subject to input
constraints. For adversarial ground target tracking, tracking performance and UAV safety are two important considerations
during tracking controller design. In this paper, a bang-bang heading rate controller is proposed to achieve circular tracking
around the target. Exposure avoidance of the UAV to the target and minimizing the exposure time are studied respectively in
terms of the initial state of the UAV. The performance of the proposed controller in both cases is also analyzed. Simulation
results demonstrate the effectiveness of the proposed approach.

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